CN115844266A - Dual-mode floor washing robot and automatic navigation method and equipment - Google Patents
Dual-mode floor washing robot and automatic navigation method and equipment Download PDFInfo
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- CN115844266A CN115844266A CN202211632903.2A CN202211632903A CN115844266A CN 115844266 A CN115844266 A CN 115844266A CN 202211632903 A CN202211632903 A CN 202211632903A CN 115844266 A CN115844266 A CN 115844266A
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Abstract
The application discloses a dual-mode floor washing robot and an automatic navigation method and equipment, which comprise a robot body, a sensor fusion system and a navigation system, wherein the robot body comprises a base, a sensor fusion system and a plurality of sensors, and the sensors are arranged in the base: the sensor fusion system is arranged on the robot body and comprises a laser radar, a depth camera and an IUM attitude positioning device; the navigation system switches between an automatic driving navigation system and a manual driving control system based on an instruction sent by a user; constructing a geographic model through a laser radar, and detecting obstacles; acquiring a depth image on the advancing route through a depth camera, and determining depth information on the advancing route according to the depth image; and positioning is carried out through an IUM attitude positioning device, and automatic driving is carried out by matching a laser radar and a depth camera according to a positioning result. Switch at any time between two kinds of modes of autopilot and manual control, when the manual work cleans inconveniently, can clean through the autopilot mode, reduce loaded down with trivial details and the fatigue of work.
Description
Technical Field
The application relates to the field of robots, in particular to a dual-mode floor washing robot and an automatic navigation method and equipment.
Background
With the development of intellectualization and the improvement of living standard of people, the fields of mobile robots and cleaning technologies are rapidly developed. In order to meet diversified social needs of people, the current situation is difficult to meet by the existing pure floor washing machine mode, particularly in the mobile field in the field of autonomous intelligent cleaning, and the normal and stable operation of the system is required to be ensured under the condition of meeting the requirements of manpower and automatic driving.
Cleaning machines on the market can only play basic artifical auxiliary function usually now, and few floor cleaning machines can only play pure manual driving function, can't solve present floor cleaning machine long-term operation and give the labour cost of bringing, cause loaded down with trivial details and the fatigue of work, are difficult to satisfy the life demand of modernization.
Disclosure of Invention
In order to solve the problems, the application provides a dual-mode floor washing robot, which comprises a robot body, a sensor fusion system and a navigation system, wherein the robot body comprises:
the sensor fusion system is arranged on the robot body and comprises a laser radar, a depth camera and an IUM attitude positioning device;
the navigation system is arranged in the robot body, is connected with the sensor fusion system, comprises an automatic driving navigation system and a manual driving control system, and is switched between the automatic driving navigation system and the manual driving control system based on an instruction sent by a user;
in the automatic driving navigation system, a geographical model is built through the laser radar, and an obstacle is detected, so that the obstacle is avoided and the automatic driving navigation system moves forwards; acquiring a depth image on an advancing route through the depth camera, and determining depth information on the advancing route according to the depth image so as to avoid obstacles and advance gullies; and positioning through the IUM attitude positioning device, and automatically driving by matching the laser radar and the depth camera according to a positioning result.
On the other hand, the application also provides an automatic navigation method of the dual-mode floor washing robot, which carries out automatic navigation by the dual-mode floor washing robot, and the method comprises the following steps:
switching between an automatic driving navigation system and a manual driving control system based on an instruction sent by a user;
if the automatic driving navigation system is switched to, a geographical model is built through the laser radar, and the obstacle is detected, so that the obstacle is avoided and the vehicle moves forward;
acquiring a depth image on an advancing route through the depth camera, and determining depth information on the advancing route according to the depth image so as to avoid obstacles and advance gullies;
and positioning is carried out through the IUM attitude positioning device, and automatic driving is carried out by matching the laser radar and the depth camera according to a positioning result.
On the other hand, this application has still provided the automatic navigation equipment of a bimodulus floor washing robot, includes:
at least one processor; and (c) a second step of,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
switching between an automatic driving navigation system and a manual driving control system based on an instruction sent by a user;
if the automatic driving navigation system is switched to, a geographic model is built through the laser radar, and the obstacle is detected, so that the obstacle is avoided and moves forward;
acquiring a depth image on an advancing route through the depth camera, and determining depth information on the advancing route according to the depth image so as to avoid obstacles and advance gullies;
and positioning is carried out through the IUM attitude positioning device, and automatic driving is carried out by matching the laser radar and the depth camera according to a positioning result.
In another aspect, the present application further provides a non-volatile computer storage medium storing computer-executable instructions configured to:
switching between an automatic driving navigation system and a manual driving control system based on an instruction sent by a user;
if the automatic driving navigation system is switched to, a geographical model is built through the laser radar, and the obstacle is detected, so that the obstacle is avoided and the vehicle moves forward;
acquiring a depth image on an advancing route through the depth camera, and determining depth information on the advancing route according to the depth image so as to avoid obstacles and advance gullies;
and positioning is carried out through the IUM attitude positioning device, and automatic driving is carried out by matching the laser radar and the depth camera according to a positioning result.
The dual-mode floor washing robot provided by the application can bring the following beneficial effects:
through this bimodulus floor cleaning machine robot, can be based on user's demand, switch at any time between two kinds of modes of automatic drive and manual control, when the manual work cleans inconveniently, can clean through the automatic drive mode, effectively solve present floor cleaning machine long-term operation and give other people the labour cost of bringing, the loaded down with trivial details and the fatigue of reduction work satisfy the life demand of modernization.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic view of a dual mode floor washing robot in an embodiment of the present application;
FIG. 2 is a schematic view of a robot body according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of an automatic navigation method of the dual-mode floor washing robot in the embodiment of the present application;
FIG. 4 is a schematic diagram of an automated navigation apparatus of the dual mode floor washing robot in an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, 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 application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the present application provides a dual-mode floor washing robot, comprising a robot body, a sensor fusion system, and a navigation system. Which is capable of adapting to hardware X86 systems or Orin modules.
Specifically, the sensor fusion system is disposed on the robot body, for example, at the periphery, top, etc. of the chassis of the robot body as shown in fig. 2. The sensor fusion system comprises a laser radar, a depth camera and an IUM attitude positioning device.
The navigation system is arranged inside the robot body and can be a chip and a processor with corresponding processing functions. The system is connected with a sensor fusion system and comprises an automatic driving navigation system and a manual driving control system, wherein the two systems are presented by virtual modularized programs, and the automatic driving navigation system and the manual driving control system are switched based on an instruction sent by a user. For example, switching is performed by a switch provided in the robot body, a client connected to the navigation system, or the like.
In an automatic driving navigation system, a geographical model is built through a laser radar, and an obstacle is detected, so that the obstacle is avoided and the vehicle moves forward. The depth image on the advancing route is obtained through the depth camera, the depth information on the advancing route is determined according to the depth image, and whether gully exists on the advancing route can be determined according to the depth information, so that obstacle avoidance advancing of the gully is carried out. And positioning through an IUM attitude positioning device, and automatically driving by matching a laser radar and a depth camera according to a positioning result.
Through this bimodulus floor cleaning robot, can be based on user's demand, switch at any time between two kinds of modes of automatic drive and manual control, when the manual work cleans inconveniently, can clean through the automatic drive mode, effectively solve present floor cleaning machine long-term operation and give the labour cost of bringing, the loaded down with trivial details and the fatigue of reduction work satisfies modernized life demand.
In one embodiment, the robot body comprises a chassis, and a direction steering engine is arranged on the chassis. In a navigation system, a steering engine is controlled by a VCU control system. The Vehicle Control Unit (VCU) mainly has the functions of analyzing the requirements of a driver, monitoring the running state of the robot body, coordinating the work of control units such as BMS, MCU, EMS, TCU and the like, and realizing the functions of power supply and power down, drive control, energy recovery, accessory control, fault diagnosis and the like of the robot.
In one embodiment, the robot body further comprises: scram switch, set up the anticollision strip around the robot body. The sensor fusion system further comprises: an ultrasonic sensor.
In the automatic driving navigation system, an obstacle within a preset distance is detected through an ultrasonic sensor so as to be matched with a laser radar to avoid the obstacle and move forward. The laser radar carries out long-distance obstacle detection, and the ultrasonic sensor carries out short-distance obstacle detection, so that the detection result is more accurate.
The emergency stop switch may be located at a convenient location for the driver to touch, for example, beside the steering wheel. An emergency stop is made based on a user trigger.
In one embodiment, in the automatic driving navigation system, geographic information of a three-dimensional space where the automatic driving navigation system is located is obtained through a laser radar, a geographic model is built according to the geographic information, and the geographic model is uploaded to a server side.
And the server sends the geographic model to the client corresponding to the user, so that the user can modify the geographic model in the client and then transmit the geographic model to the automatic driving navigation system, and thus, the constructed geographic model can be more accurate under the participation of the user.
In one embodiment, in an autonomous navigation system, path planning is performed based on a geographic model. In the path planning process, multiple paths are planned according to different planning modes (for example, according to the planning modes such as the maximum cleaning range, the shortest cleaning path, the fastest cleaning speed and the like), and corresponding path plans are selected from the multiple paths based on the selection of a user.
The path planning comprises a plurality of sub-paths, and different sub-paths are divided based on a preset structure, wherein the preset structure comprises a door, a designated barrier and an area.
The gate is determined based on the width of the channel, and the gate may separate two regions alongside, one for each sub-path. The designated obstacle is designated by the user, for example, it may be a counter in a hall, and different areas are provided on both sides of the counter, and each area corresponds to a sub-path. And when the area of the region is higher than the preset area, equally dividing the planned path to obtain a plurality of sub-paths.
In one embodiment, the system further comprises a cleaning business management system and a cleaning operation system.
And the cleaning service management system automatically cleans the sub-path selected by the user by the automatic driving navigation system based on the instruction sent by the user, wherein the instruction comprises the cleaning times and the cleaning frequency. Of course, the user can switch the manual driving control system to perform manual cleaning at any time, and corresponding regulations can be performed in the instructions.
The cleaning operation system comprises cleaning equipment arranged on the robot body, and the cleaning equipment comprises a sucker (arranged below a local chassis of the robot), a sprinkling mechanism (arranged in front of the robot) and a floor mopping mechanism (arranged on the lower side in front of the chassis of the robot). The cleaning operation system initiates a sweep based on control of the cleaning services management system.
In one embodiment, the manual driving control system comprises a steering wheel and a linkage mechanism, and of course, the manual driving control system also comprises a throttle and a brake lamp, and the linkage mechanism is used for linking the steering wheel, the throttle, the brake, the steering mechanism and the like. The manual driving control system realizes the forward movement based on the control of the user.
In one embodiment, the automatic driving navigation system performs obstacle detection by a laser radar and gully monitoring by a depth camera simultaneously when the manual driving control system controls forward, and performs graded alarm according to the detected obstacles, gully and positioning result.
In the classification alarm, an alarm is issued if a distance between an obstacle or a ravine and the robot body is higher than a first distance (e.g., 2 meters) and lower than a second distance (e.g., 5 meters), the first distance being smaller than the second distance. If the distance between the obstacle or ravine and the robot body is less than the second distance, an emergency stop is performed. Through the automatic driving navigation system, auxiliary graded alarm can be performed when a user drives manually, and the safety of the user is guaranteed.
In one embodiment, as shown in fig. 3, the present application further provides a method for automatically navigating a dual-mode washing robot, wherein the method for automatically navigating the dual-mode washing robot according to any one of the above embodiments comprises:
s301: switching between the automatic driving navigation system and the manual driving control system is performed based on an instruction issued by a user.
S302: and if the automatic driving navigation system is switched, constructing a geographic model through the laser radar, and detecting the obstacle, so that the obstacle is avoided and moves forward.
S303: and acquiring a depth image on the advancing route through the depth camera, and determining depth information on the advancing route according to the depth image, so as to avoid obstacles and advance ravines.
S304: and positioning is carried out through the IUM attitude positioning device, and automatic driving is carried out by matching the laser radar and the depth camera according to a positioning result.
As shown in fig. 4, an embodiment of the present application also provides an automatic navigation apparatus of a dual mode floor washing robot, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to cause the at least one processor to:
switching between an automatic driving navigation system and a manual driving control system based on an instruction sent by a user;
if the automatic driving navigation system is switched to, a geographical model is built through the laser radar, and the obstacle is detected, so that the obstacle is avoided and the vehicle moves forward;
acquiring a depth image on an advancing route through the depth camera, and determining depth information on the advancing route according to the depth image so as to avoid obstacles and advance gullies;
and positioning is carried out through the IUM attitude positioning device, and automatic driving is carried out by matching the laser radar and the depth camera according to a positioning result.
An embodiment of the present application further provides a non-volatile computer storage medium storing computer-executable instructions, where the computer-executable instructions are configured to:
switching between an automatic driving navigation system and a manual driving control system based on an instruction sent by a user;
if the automatic driving navigation system is switched to, a geographical model is built through the laser radar, and the obstacle is detected, so that the obstacle is avoided and the vehicle moves forward;
acquiring a depth image on an advancing route through the depth camera, and determining depth information on the advancing route according to the depth image so as to avoid obstacles and advance gullies;
and positioning is carried out through the IUM attitude positioning device, and automatic driving is carried out by matching the laser radar and the depth camera according to a positioning result.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the device and media embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference may be made to some descriptions of the method embodiments for relevant points.
The device and the medium provided by the embodiment of the application correspond to the method one to one, so the device and the medium also have the similar beneficial technical effects as the corresponding method, and the beneficial technical effects of the method are explained in detail above, so the beneficial technical effects of the device and the medium are not repeated herein.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. All equivalent substitutions, modifications and the like within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. The dual-mode floor washing robot is characterized by comprising a robot body, a sensor fusion system and a navigation system, wherein the robot body comprises:
the sensor fusion system is arranged on the robot body and comprises a laser radar, a depth camera and an IUM attitude positioning device;
the navigation system is arranged in the robot body, is connected with the sensor fusion system, comprises an automatic driving navigation system and a manual driving control system, and is switched between the automatic driving navigation system and the manual driving control system based on an instruction sent by a user;
in the automatic driving navigation system, a geographical model is built through the laser radar, and an obstacle is detected, so that the obstacle is avoided and the automatic driving navigation system moves forwards; acquiring a depth image on an advancing route through the depth camera, and determining depth information on the advancing route according to the depth image so as to avoid obstacles and advance gullies; and positioning through the IUM attitude positioning device, and automatically driving by matching the laser radar and the depth camera according to a positioning result.
2. The dual-mode floor washing robot of claim 1, wherein the robot body comprises a chassis, and a directional steering engine is disposed on the chassis;
in the navigation system, the steering engine is controlled by a VCU control system.
3. The dual mode floor washing robot of claim 1, further comprising on the robot body: the robot comprises an emergency stop switch and anti-collision strips arranged on the periphery of a robot body;
the sensor fusion system further comprises: an ultrasonic sensor;
in the automatic driving navigation system, detecting an obstacle within a preset distance through the ultrasonic sensor so as to cooperate with the laser radar to carry out obstacle avoidance and advance on the obstacle;
the emergency stop switch performs emergency stop based on the triggering of the user.
4. The dual-mode floor washing robot as claimed in claim 1, wherein in the automatic driving navigation system, geographic information of a three-dimensional space is obtained through the laser radar, a geographic model is constructed according to the geographic information, and the geographic model is uploaded to a server;
and the server side issues the geographic model to a client side corresponding to the user, so that the user modifies the geographic model in the client side and transmits the geographic model to the automatic driving navigation system.
5. The dual mode floor washing robot of claim 1, wherein in the autonomous driving navigation system, path planning is performed based on the geographic model;
in the path planning process, planning according to different planning modes to obtain a plurality of paths, and selecting and obtaining a corresponding path plan in the plurality of paths based on the selection of the user;
the path planning comprises a plurality of sub paths, and different sub paths are divided based on a preset structure, wherein the preset structure comprises a door, a specified barrier and an area;
the gate is determined based on the width of the channel, the specified barrier is specified by the user, and when the area of the region is larger than the preset area, the planned path is equally divided to obtain a plurality of sub-paths.
6. The dual mode floor scrubber robot of claim 5, further comprising a cleaning operations management system, a cleaning operations system;
the cleaning business management system automatically cleans the sub-path selected by the user by the automatic driving navigation system based on an instruction sent by the user, wherein the instruction comprises the cleaning times and the cleaning frequency;
the cleaning operation system comprises cleaning equipment arranged on the robot body, and the cleaning equipment comprises a sucker, a sprinkling mechanism and a floor mopping mechanism; the cleaning operation system starts cleaning based on the control of the cleaning service management system.
7. The dual mode floor washing robot of claim 1, wherein the manual drive control system comprises a steering wheel, a linkage mechanism;
the manual driving control system implements forward progress based on the user's control.
8. The dual-mode floor scrubber robot of claim 7, wherein the autonomous driving navigation system synchronizes obstacle detection by the lidar and gully monitoring by the depth camera while the manual driving control system controls forward progress;
step alarm is carried out according to the detected obstacles, gullies and positioning results;
in the grading alarm, issuing an alarm if a distance between an obstacle or a ravine and the robot body is higher than a first distance and lower than a second distance, the first distance being less than the second distance;
if the distance between the obstacle or ravine and the robot body is less than the second distance, an emergency stop is performed.
9. An automatic navigation method of a dual mode floor washing robot, characterized in that automatic navigation is performed by the dual mode floor washing robot as claimed in any one of claims 1 to 8, the method comprising:
switching between an automatic driving navigation system and a manual driving control system based on an instruction sent by a user;
if the automatic driving navigation system is switched to, a geographical model is built through the laser radar, and the obstacle is detected, so that the obstacle is avoided and the vehicle moves forward;
acquiring a depth image on an advancing route through the depth camera, and determining depth information on the advancing route according to the depth image so as to avoid obstacles and advance gullies;
and positioning is carried out through the IUM attitude positioning device, and automatic driving is carried out by matching the laser radar and the depth camera according to a positioning result.
10. An automatic navigation apparatus of a dual mode floor washing robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
switching between an automatic driving navigation system and a manual driving control system based on an instruction sent by a user;
if the automatic driving navigation system is switched to, a geographic model is built through the laser radar, and the obstacle is detected, so that the obstacle is avoided and moves forward;
acquiring a depth image on an advancing route through the depth camera, and determining depth information on the advancing route according to the depth image so as to avoid obstacles and advance gullies;
and positioning is carried out through the IUM attitude positioning device, and automatic driving is carried out by matching the laser radar and the depth camera according to a positioning result.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116327047A (en) * | 2023-05-04 | 2023-06-27 | 广东浩宇清洁环保设备有限公司 | Switchable automatic driving sweeping device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116327047A (en) * | 2023-05-04 | 2023-06-27 | 广东浩宇清洁环保设备有限公司 | Switchable automatic driving sweeping device |
| CN116327047B (en) * | 2023-05-04 | 2024-02-02 | 广东浩宇清洁环保设备有限公司 | Switchable automatic driving sweeping device |
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