WO2020140809A1 - 信息处理方法、装置、设备及存储介质 - Google Patents
信息处理方法、装置、设备及存储介质 Download PDFInfo
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- WO2020140809A1 WO2020140809A1 PCT/CN2019/128278 CN2019128278W WO2020140809A1 WO 2020140809 A1 WO2020140809 A1 WO 2020140809A1 CN 2019128278 W CN2019128278 W CN 2019128278W WO 2020140809 A1 WO2020140809 A1 WO 2020140809A1
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- base station
- detection data
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- information processing
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Definitions
- This application relates to the field of information processing technology, and in particular, to an information processing method, information processing device, device, and computer-readable storage medium.
- the types of cleaning robots include sweeping robots and mopping robots.
- the cleaning robot is provided with cleaning parts and driving devices. Driven by the driving device, the cleaning robot moves along the set cleaning path and cleans the floor through the cleaning member.
- it is also equipped with a base station.
- the base station and the cleaning robot are set independently.
- the base station is set to charge the cleaning robot and clean the wiper.
- the cleaning robot will drive to the base station under the preset condition of returning to the base station. Until reaching the preset docking position on the base station.
- the common way to return the cleaning robot to the base station is to install an infrared transmitting tube on the base station, install an infrared receiving tube on the cleaning robot body, and clean the infrared receiving tube on the robot. After receiving the infrared signal of the infrared transmitting tube on the base station, it moves to the base station under the guidance of the infrared signal.
- Embodiments of the present application provide an information processing method, information processing device, device, and computer-readable storage medium, which can guide a mobile robot to accurately enter a base station.
- a first aspect of an embodiment of the present application provides an information processing method, which is set on a mobile robot, and the information processing method includes:
- the mobile robot is controlled to move to the target position to enter the base station.
- a second aspect of the embodiments of the present application further provides an information processing device, where the information processing device includes:
- the detection unit is set to detect the environment through the detection sensor of the mobile robot to obtain detection data
- An identification unit configured to identify target detection data belonging to an identification area from the detection data, the identification area being an area set as an identification on the base station;
- a determination unit configured to determine the target position on the identification area based on the target detection data
- the processing unit is configured to control the mobile robot to move to the target position to enter the base station.
- a third aspect of the embodiments of the present application also provides an information processing device.
- the information processing device includes: a memory, a processor, and an information processing program stored on the memory and executable on the processor. The information When the processing program is executed by the processor, the following steps are realized:
- the mobile robot is controlled to move to the target position to enter the base station.
- a computer-readable storage medium is also provided.
- An information processing program is stored on the computer-readable storage medium.
- the information processing program is executed by a processor, the following steps are implemented:
- the mobile robot is controlled to move to the target position to enter the base station.
- the identification area is an area set as an identification on the base station.
- the mobile robot obtains the detection data by detecting the environment through the detection sensor, it passes Identify the target detection data belonging to the identification area, and identify the target position of the identification area according to the target detection data. Since the identification area is set on the base station, the position of the base station is also identified, and then the cleaning robot is guided accurately according to the guidance of the target position Into the base station.
- FIG. 1 is a perspective schematic view of a cleaning robot provided by an embodiment of this application;
- FIG. 2 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present application after removing a part of a casing
- FIG. 3 is a bottom view of the mopping robot provided by the embodiment of the present application.
- FIG. 4 is a bottom view of a cleaning robot provided by an embodiment of the present application.
- FIG. 5 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present application.
- FIG. 6 is a perspective schematic diagram of a base station provided by an embodiment of the present application.
- FIG. 7 is a three-dimensional schematic diagram of the base station after opening the top cover provided by an embodiment of the present application
- FIG. 8 is a schematic structural diagram of a base station provided by an embodiment of this application.
- FIG. 9 is a schematic diagram of a cleaning robot driving to a base station provided by an embodiment of this application.
- FIG. 10 is a schematic diagram of a state where a cleaning robot provided by an embodiment of the present application is docked on a base station;
- FIG. 11 is a flowchart of an information processing method provided by an embodiment of this application.
- FIG. 12 is a schematic diagram of a cleaning robot emitting a laser signal to obtain detection data according to an embodiment of the present application
- FIG. 13 is a schematic diagram of the detection data visualization process provided by the embodiment of the present application.
- FIG. 16 is a schematic diagram of visualization processing after filtering detection data provided by an embodiment of the present application.
- FIG. 17 is a schematic diagram of projecting detection data of the outline of a base station provided by an embodiment of the present application onto a grid map in a world coordinate system;
- 18 is a schematic diagram of projecting target detection data of a laser signal reflection area onto a grid map provided by an embodiment of the present application;
- 19 is a schematic diagram of a base station including an identification area provided by an embodiment of this application.
- 20 is a schematic diagram of a state in which a cleaning robot provided by an embodiment of the present application enters a base station;
- 21 is a schematic diagram of an embodiment of an information processing device provided by an embodiment of the present application.
- Embodiments of the present application provide an information processing method and related equipment, which can accurately guide a mobile robot into a base station.
- the embodiment of the present application provides a cleaning robot 100.
- the cleaning robot 100 may be configured to automatically clean the ground, and the application scenarios of the cleaning robot 100 may be household indoor cleaning, cleaning of large places, and the like.
- the types of the cleaning robot 100 include a cleaning robot 1001, a cleaning robot 1002, and the like.
- the cleaning robot 100 includes a robot main body 101, a driving motor 102, a sensor unit 103, a controller 104, a battery 105, a walking unit 106, a memory 107, a communication unit 108, a robot interaction unit 109, and a cleaning member , And charging parts 111 and so on.
- the cleaning member is specifically a mopping member 1101, and the mopping member 1101 is, for example, a mop.
- the wiper 1101 is configured to clean the ground by mopping.
- the cleaning member of the cleaning robot 100 may be set as a detachable connection, and when the floor cleaning is required, the wiper 1101 is installed to the bottom of the robot body 101; when the floor cleaning is required, The side brush 1102 is used to replace the wiper 1101, and the side brush 1102 is attached to the bottom of the robot body 101.
- the walking unit 106 is a component related to the movement of the cleaning robot 100, and the walking unit 106 includes a driving wheel 1061 and a universal wheel 1062.
- the controller 104 is provided inside the robot body 101, and the controller 104 is configured to control the cleaning robot 100 to perform specific operations.
- the controller 104 may be, for example, a central processing unit (CPU), a microprocessor (Microprocessor), or the like. As shown in FIG. 5, the controller 104 is electrically connected to the battery 105, the memory 107, the drive motor 102, the walking unit 106, the sensor unit 103, and the robot interaction unit 109 to control these components.
- the battery 105 is provided inside the robot body 101, and the battery 105 is provided to supply power to the cleaning robot 100.
- the robot main body 101 is also provided with a charging member 111 configured to obtain power from an external device of the cleaning robot 100 to charge the battery 105.
- the memory 107 is provided on the robot body 101, and a program is stored on the memory 107, and when the program is executed by the controller 104, a corresponding operation is realized.
- the memory 107 is also set to store parameters for use by the cleaning robot 100.
- the memory 107 includes but is not limited to a magnetic disk memory, a read-only compact disk (Compact Disc Read-Only Memory, CD-ROM), an optical memory, and the like.
- the communication unit 108 is disposed on the robot main body 101, and the communication unit 108 is configured to allow the cleaning robot 100 to communicate with external devices.
- the communication unit 108 includes but is not limited to a wireless fidelity (WIreless-Fidelity, WI-FI) communication module 1081 and a short distance Communication module 1082, etc.
- the cleaning robot 100 can connect to the WI-FI router through the WI-FI communication module 1081 to communicate with the terminal.
- the cleaning robot 100 communicates with the base station through the short-range communication module 1082.
- the base station is a device used in conjunction with the cleaning robot 100.
- the sensor unit 103 provided on the robot body 101 includes various types of sensors, such as a lidar 1031, a collision sensor 1032, a distance sensor 1033, a drop sensor 1034, a counter 1035, a gyroscope 1036, and the like.
- the lidar 1031 is installed on top of the robot body 101. During operation, the lidar 1031 rotates and emits a laser signal through the transmitter on the lidar 1031. The laser signal is reflected by the obstacle, so that the lidar 1031 receiver receives the obstacle The reflected laser signal. By analyzing the received laser signal, the circuit unit of the lidar 1031 can obtain the surrounding environment information, such as the distance and angle of the obstacle relative to the lidar 1031. In addition, the camera can also be used to replace the lidar. By analyzing the obstacles in the image taken by the camera, the distance and angle of the obstacle relative to the camera can also be obtained.
- the collision sensor 1032 includes a collision housing 10321 and a trigger sensor 10322.
- the collision case 10321 surrounds the head of the robot body 101. Specifically, the collision case 10321 is provided at the front position of the head of the robot body 101 and the left and right sides of the robot body 101.
- the trigger sensor 10322 is provided inside the robot body 101 and behind the collision case 10321.
- An elastic buffer is provided between the collision case 10321 and the robot body 101. When the cleaning robot 100 collides with an obstacle through the collision housing 10321, the collision housing 10321 moves inside the cleaning robot 100 and compresses the elastic buffer.
- the collision housing 10321 After the collision housing 10321 moves a certain distance into the cleaning robot 100, the collision housing 10321 contacts the trigger sensor 10322, and the trigger sensor 10322 is triggered to generate a signal that can be sent to the controller 104 in the robot body 101 for processing . After touching the obstacle, the cleaning robot 100 moves away from the obstacle, and the collision housing 10321 moves back to the original position under the action of the elastic buffer. It can be seen that the collision sensor 1032 can detect the obstacle and act as a buffer when it collides with the obstacle.
- the distance sensor 1033 may specifically be an infrared detection sensor, and may be set to detect the distance from the obstacle to the distance sensor 1033.
- the distance sensor 1033 is provided on the side of the robot body 101 so that the distance sensor 1033 can measure the distance between the obstacle located near the side of the cleaning robot 100 and the distance sensor 1033.
- the distance sensor 1033 may also be an ultrasonic distance measuring sensor, a laser distance measuring sensor, a depth sensor, or the like.
- the drop sensor 1034 is disposed at the bottom edge of the robot body 101, and the number may be one or more.
- the fall sensor 1034 can detect that the cleaning robot 100 is at risk of falling from a height, so as to perform a corresponding anti-fall response, for example, the cleaning robot 100 stops moving or moves away from the falling position The direction of movement, etc.
- a counter 1035 and a gyroscope 1036 are also provided inside the robot body 101.
- the cleaning robot 100 described in the embodiment of the present application is only a specific example, and does not specifically limit the cleaning robot 100 of the embodiment of the present application.
- the cleaning robot 100 of the embodiment of the present application may also be implemented in other specific ways.
- the cleaning robot may have more or fewer components than the cleaning robot 100 shown in FIG. 1.
- the cleaning robot may be an all-sweeping robot, that is, the bottom of the cleaning robot is provided with a wiper, a side brush, and an air intake, so that the cleaning robot can simultaneously mopp and sweep the ground.
- An embodiment of the present application further provides a base station 200 that is configured to be used in conjunction with the cleaning robot 100.
- the base station 200 can charge the cleaning robot 100, and the base station 200 can provide the cleaning robot 100 with a parking position.
- the base station 200 may also clean the mopping member 1101 of the mopping robot.
- the wiper 1101 is configured to clean the ground by mopping.
- the base station 200 includes a base station body 202, a cleaning tank 203, and a water tank 204.
- the cleaning tank 203 is provided on the main body 202 of the base station, and the cleaning tank 203 is provided for cleaning the mop 1101 of the mopping robot.
- the cleaning rib 2031 provided on the cleaning tank 203 can scrape and clean the wiper 1101.
- the base station main body 202 is provided with a notch 205 which leads to the washing tank 203.
- the cleaning robot 100 may drive into the base station 200 through the entry slot 205, so that the cleaning robot 100 is docked at a preset docking position on the base station 200.
- the base station 200 in the embodiment of the present application further includes a controller 206, a communication unit 207, a memory 208, a water pump 209, and a base station interaction unit 210.
- the controller 206 is disposed inside the base station main body 202, and the controller 206 is configured to control the base station 200 to perform specific operations.
- the controller 206 may be, for example, a central processing unit (CPU), a microprocessor (Microprocessor), or the like.
- the controller 206 is electrically connected to the communication unit 207, the memory 208, the water pump 209, and the base station interaction unit 210.
- the memory 208 is provided on the base station main body 202, and a program is stored on the memory 208, and when the program is executed by the controller 206, a corresponding operation is realized.
- the memory 208 is also set to store parameters for use by the base station 200.
- the memory 208 includes, but is not limited to, disk storage, CD-ROM, optical storage, and the like.
- the communication unit 207 is provided on the base station main body 202.
- the communication unit 207 is configured to communicate with external devices.
- the communication unit 207 includes but is not limited to a wireless fidelity (WIreless-Fidelity, WI-FI) communication module 2071 and a short-range communication module 2072, etc. .
- the base station 200 can connect to the WI-FI router through the WI-FI communication module 2071 to communicate with the terminal.
- the base station 200 can communicate with the cleaning robot 100 through the short-range communication module 2072.
- the base station interaction unit 210 is configured to interact with the user.
- the base station interaction unit 210 includes, for example, a display screen 2101 and a control button 2102.
- the display screen 2101 and the control button 2102 are provided on the base station main body 202.
- the display screen 2101 is provided to display information to the user.
- the control button 2102 is provided for the user to perform a pressing operation.
- the base station 200 is controlled to be turned on or stopped.
- the base station main body 202 is also provided with a power supply component, and the cleaning robot is provided with a charging component 111.
- the charging component 111 of the cleaning robot 100 is in contact with the power supply component of the base station 200 , So that the base station 200 charges the cleaning robot 100.
- the electric energy of the base station 200 may come from the commercial power.
- the cleaning robot 100 cleans the floor of the room.
- the cleaning robot 100 automatically drives toward the base station 200.
- the cleaning robot 100 enters the base station 200 through the slot 205 on the base station 200 and docks at the preset docking position on the base station 200.
- the state in which the cleaning robot 100 is docked on the base station 200 can be seen in FIG. 10.
- the cleaning robot 100 When the cleaning robot 100 is a mopping robot, and a mop 1101 is provided at the bottom of the mopping robot, the cleaning robot 100 is configured to perform mopping cleaning on the ground.
- the cleaning robot 100 drags the floor of the room for a period of time. After the wiper 1101 becomes dirty, the cleaning robot 100 drives toward the base station 200.
- the cleaning robot 100 enters the base station 200 through the slot 205 on the base station 200 and docks at the preset docking position on the base station 200.
- the wiper 1101 of the cleaning robot 100 is accommodated on the cleaning tank 203, and under the action of the water pump 209, the cleaning water of the cleaning tank in the base station 200 flows to the cleaning tank 203, and is sprayed through the liquid inlet structure on the cleaning tank 203 To the wiping member 1101, at the same time, the wiping member 1101 scrapes with the protruding cleaning rib 2031 in the cleaning tank, thereby achieving cleaning of the wiping member 1101. Under the action of the water pump 209, the dirty sewage after cleaning the wiper 1101 flows out of the cleaning tank 203 from the drainage structure on the cleaning tank and enters the sewage tank.
- the base station 200 described in the embodiment of the present application is only a specific example, and does not constitute a specific limitation on the base station 200 in the embodiment of the present application.
- the base station 200 in the embodiment of the present application may also be implemented in other specific ways, for example, implemented in the present application
- the base station 200 in the example may not include a water tank 204, and the base station main body 202 may be connected to a water pipe and a drain pipe, so that the tap water of the water pipe is used to clean the wiper 1101 of the cleaning robot 100, and the dirty sewage after cleaning the wiper 1101 is cleaned by the cleaning tank 203
- the base station 200 flows out through the drain pipe.
- the structure of the cleaning robot, mopping robot, sweeping robot, and base station provided by the embodiments of the present application is described above, and the information processing method provided by the embodiments of the present application is described below from the perspective of an information processing device.
- the information processing device may be integrated in
- the device on the mobile robot may be a software instruction module or a hardware device, which is not specifically limited in the embodiments of the present application.
- the information processing method of the embodiment of the present application will be described below by taking a mobile robot as a cleaning robot as an example. It should be understood that the mobile robot executing the information processing method of the embodiment of the present application may also be other types of mobile robots, such as warehouse robots, exhibition robots, and other self-mobile robots.
- the method is applied to cleaning robots.
- the method includes:
- Step 1101 Detect the environment through the detection sensor of the cleaning robot to obtain detection data.
- the information processing device may detect the environment through the detection sensor of the cleaning robot to obtain detection data, wherein the detection sensor is a lidar, and the detection data includes an angle, a distance value, and a light intensity, and the angle is a relative obstacle. From the angle of the lidar, the distance value is the distance value between the obstacle and the lidar, and the light intensity is the light intensity of the laser light reflected by the obstacle. That is, as shown in FIG. 12, the cleaning robot emits laser light through the lidar 1201, and the laser is reflected on the obstacle point 1202 on the obstacle, and the receiver on the lidar 1201 receives the reflected laser. The lidar 1202 pairs The received laser light is analyzed to obtain the distance d1 and angle ⁇ of the obstacle point and the intensity of the reflected laser light.
- the lidar 1201 detects the environment on the plane, that is, the lidar 1201 detects the information of obstacles on a plane.
- the detection data is the data sampled by the lidar 1201 for one revolution, in other words, the detection data is the data obtained by the lidar once sampling within a 360-degree range around it.
- the lidar 1201 discretely collects detection data. Specifically, the lidar 1201 records the detection data at a sampling point, and the sampling point of the lidar 1201 is a point set on the lidar around the lidar The sampling point can correspond to the angle in the detection data, and the angle of a specific sampling point can be used to determine the angle of the specific detection data recorded by the sampling point.
- FIG. 13 is the result of visualizing the detection data, where the abscissa of FIG. 13 represents the subscript value of the sampling point of the lidar, and the ordinate represents the light intensity.
- the sampling point of the lidar is the point set on the lidar around the lidar, and the sampling point corresponds to the angle in the detection data.
- the detection data may be data corresponding to the environment on the detection plane where the lidar is located, or three-dimensional detection data in the environment of the three-dimensional space where the cleaning robot is located.
- the lidar may be used to detect two-dimensional
- the planar lidar may also be a lidar for detecting three-dimensional space, which is not specifically limited.
- the following example uses a lidar that detects a two-dimensional plane as an example for description.
- the detection data detected by the lidar are all data on the detection plane.
- Step 1102 Identify the target detection data belonging to the identification area from the detection data.
- the information processing device may identify the target detection data belonging to the identification area from the detection data, where the identification area is an area set as an identification on the base station.
- the cleaning robot can recognize the target detection data of the identification area from the detection data according to the characteristics of the identification area.
- the marking area is a laser signal reflection area
- the laser signal reflection area includes a strong reflective area and a weak reflective area
- the laser intensity reflected by the strong reflective area is greater than the laser intensity reflected by the weak reflective area
- the strong reflective area and the weak reflective area The relative position of is in accordance with the preset position relationship. In this way, the cleaning robot can recognize the target detection data of the identification area according to whether the strong reflective area and the weak reflective area in the detection data conform to the preset positional relationship.
- FIG. 14 is a schematic diagram of a laser signal reflection area provided by an embodiment of the present application.
- FIG. 15 is another schematic diagram of a laser signal reflection area provided by an embodiment of the present application. It is a strong reflective area, a white area is a weak reflective area, a black area in FIG. 15 is a strong reflective area, and a white area is a weak reflective area.
- a strong reflective material is used to make a strong reflective area
- a light absorbing material is used to make a weak reflective area.
- the strong reflective material can be glass beads or a reflective film
- the light reflective material in the weak reflective area can be It is acrylic, PC or ABS plastic. It can be understood that the strong reflective area made of strong reflective materials can increase the data of the effective points of the lidar on the one hand; on the other hand, there are fewer strong reflective objects in ordinary households, which can reduce the environmental noise.
- the identification area corresponding to the detection data of the two-dimensional plane shown in FIG. 14 is composed of three strong reflective areas and two weak reflective areas
- the detection data shown in FIG. 15 is the three-dimensional space detection data.
- the corresponding logo area is composed of 5 strong reflective areas and 4 weak reflective areas, of course, there can also be other composition methods, specific is not limited, in addition, there are many forms of logo structure,
- Figure 14 takes a rectangle as an example
- FIG. 15 takes squares as an example for illustration, and does not mean that it is limited.
- the marking area may also have other structural forms, such as a long flat structure, a long curved structure, and a long shape. Flat or curved structure.
- the identification area of the embodiment of the present application may also be implemented in other ways, for example, a color combination composed of multiple specific colors.
- the detection sensor may be a camera that takes an image.
- the marking area is a component having a specific concave-convex structure.
- the detection sensor may be, for example, a lidar or a depth sensor.
- the information processing device identifying the target detection data belonging to the identification area from the detection data may include:
- the target detection data belonging to the laser signal reflection area is identified according to the light intensity position.
- the relative position relationship between the strong light intensity and the weak light intensity of the target detection data conforms to the preset position relationship.
- the information processing device can identify the target detection data belonging to the laser signal reflection area from the detection data according to the light intensity position, wherein the relative positional relationship between the strong light intensity and the weak light intensity of the target detection data conforms to the preset Position relationship, the preset position relationship is the position relationship between the strong reflection area and the weak reflection area of the laser signal reflection area, for example, the preset position relationship is as shown in FIG. 14 and FIG. 15 between the positions of the strong reflection area and the weak reflection area Relationship.
- the target detection data belonging to the laser signal reflection area can be selected from the range of the detection data.
- the step of identifying the target detection data belonging to the laser signal reflection area according to the light intensity position specifically includes the following steps A1 to A6.
- Step A1 from the detection data, identify the initial detection data in which the relative position relationship between the strong light intensity and the weak light intensity conforms to the preset position relationship according to the light intensity position;
- Step A2 from the initial detection data, the detection data for detecting the strong reflective area and the detection data for detecting the weak reflective area are determined according to the light intensity.
- the light intensity of the detection data detecting the strong reflective area is greater than the preset light intensity threshold, and the light intensity of the detection data detecting the weak reflective area is less than or equal to the preset light intensity threshold;
- Step A3 Calculate the length of the strong reflective area according to the angle and distance values of the detection data of the strong reflective area
- Step A4 Calculate the length of the weak reflective area according to the angle and distance of the detection data of the weak reflective area
- Step A5 Calculate the ratio between the length of detecting the strong reflective area and the length of detecting the weak reflective area to obtain the target length ratio
- Step A6 When the target length ratio is equal to the preset length ratio, the initial detection data is determined as the target detection data belonging to the laser signal reflection area.
- the information processing device may first identify the initial detection data in which the relative position relationship between the strong light intensity and the weak light intensity conforms to the preset position relationship from the detection data, specifically, set a light intensity Threshold value, then, based on the light intensity threshold, the light intensity of the detection data is binarized, and the point greater than the light intensity threshold is determined as the strong light point, and the point less than the light intensity threshold is determined as the weak light point.
- the marking area shown in 14 is taken as an example for illustration.
- the marking area is obtained by setting three strong reflective areas and two weak reflective areas at intervals, so that the laser signal reflected by the marking area will have three continuous areas of strong light (strong light dots) Continuous area) and 2 sections of weak light continuous area (continuous area composed of weak light points) alternate interval (alternating condition: strong-weak-strong-weak-strong), after binarizing the detection data, select from Continuous strong and weak continuous areas with alternating intervals (strong-weak-strong-weak-strong) are identified, and the identified area may be the area corresponding to the initial detection data that meets the preset position relationship. After filtering the information, the diagram shown in FIG. 16 is obtained, and these areas in FIG. 16 may be laser signal reflection areas. The information of the laser signal reflection area in FIG.
- 16 can also be represented using binary data: "1111100000111110000011111", where 1 indicates a point greater than the light intensity threshold, 0 indicates a point less than the light intensity threshold; continuous 1 indicates a continuous area of strong light , Continuous 0 means weak light continuous area.
- the ordering of each point is in the order of changing the angle of the detection data or the order of the sampling points of the lidar.
- the detection data for detecting the strong reflective area and the detection data for detecting the weak reflective area are determined.
- the light intensity of the detection data of the strong reflective area is greater than the preset light intensity threshold, and the light of the detection data of the weak reflective area is detected.
- the intensity is less than or equal to the preset light intensity threshold, and then the length of the strong reflective area is calculated by detecting the angle and distance values of the detection data of the strong reflective area. And by detecting the angle and distance of the detection data of the weak reflective area, the length of the weak reflective area is calculated.
- the preset length ratio is the actual application of laser signal reflection
- the ratio of the length of the strong reflective area to the length of the weak reflective area in the area is explained by taking the marking area shown in FIG. 12 as an example.
- the marking area is obtained by setting the interval between 3 strong reflective areas and 2 weak reflective areas, assuming The ratio of the lengths of the different reflective areas of the marked area is 1:1:1:1:1 in turn.
- alternating strong continuous areas and weak continuous areas are obtained -Strong-Weak-Strong
- determine whether the target length ratio is the preset length ratio determine that the initial detection data belongs to the laser
- the target detection data in the signal reflection area if not, the environment detection is performed again through the lidar to obtain the detection data.
- the step of identifying the target detection data belonging to the laser signal reflection area according to the light intensity position specifically includes:
- the probe data within the outline range of the base station is identified. Then, from the detection data within the outline range of the base station, the target detection data belonging to the laser signal reflection area is identified according to the light intensity position. The laser signal reflection area is set within the outline of the base station.
- the detection data within the outline range of the base station can be identified from the detection data first. Since the laser reflection area is provided on the base station, the detection data of the laser reflection area must also be included in the outline range of the base station In the detection data of, the target detection data belonging to the laser signal reflection area can be identified from the detection data within the outline range of the base station according to the light intensity position.
- the standard detection data of the base station outline is pre-stored on the cleaning robot. After the detection data is obtained through the lidar, the standard detection data of the base station outline is used to match the detection data. In the detection data, the outline of the base station is found. The standard detection data of the data meet the detection data of the preset similarity. The detection data of the detection data that matches the standard detection data of the contour of the base station is the detection data of the contour of the currently detected base station.
- FIG. 17 is a schematic diagram of projecting the detection data of the base station outline provided by the embodiment of the present application onto a grid map in the world coordinate system.
- shape features and preset base station outlines are found (Standard sounding data)
- the contour whose similarity meets the threshold, the found contour is the base station contour.
- iterative closest point Iterative Closest Point, ICP
- curve fitting method is used to find the base station outline data in the grid map shown in FIG. 17.
- the manner of determining the probe data of the base station profile may also be to search for probe data that matches the characteristics of the preset base station profile as the probe data of the base station profile. For example: arrange the distance of the detection data according to the order of the sampling points of the lidar. If the distance of a continuous piece of detection data increases continuously, then the distance does not change, and then the distance decreases continuously, it is determined that the detection data is the detection of the contour of the base station data.
- the lidar detects the information of obstacles on a plane (detection plane), so that the outline of the base station is also the outline information of the base station on the detection plane. It should be noted that at this time, in order for the lidar to detect the data reflected back by the marking area, after the marking area is set on the base station, the marking area needs to be located on the detection plane of the lidar.
- the target detection data that belongs to the laser signal reflection area according to the light intensity position has been described in detail above.
- the identification belongs to the light intensity position
- the target detection data in the laser signal reflection area is similar to the implementation described above, and will not be repeated here.
- Step 1103 Determine the target position on the identification area according to the target detection data.
- the target position on the laser signal reflection area can be determined according to the angle and distance values of the target detection data.
- the target position is a preset position on the identification area, for example, the midpoint of the identification area, the end point of the identification area, etc., which is not specifically limited in the embodiments of the present application.
- the target position is taken as the center point of the laser signal reflection area as an example for description.
- Step 1104 Control the cleaning robot to move to the target position to enter the base station.
- the target position on the identification area is also the target position on the base station. After the cleaning robot determines the target position, it can move to the target position according to the guidance of the target position and enter the base station.
- step 1104 There are many specific implementation methods of step 1104, and two examples are given below to illustrate:
- Example 1 Enter the base station by setting a moving route.
- the signal processing device may first set a moving route according to the target position, the moving route extends to the target position, and then control the cleaning robot to move along the moving route to enter the base station.
- the target position is a point obtained from the laser signal reflection area (for example, the center point of the laser signal reflection area), the target position is set to obtain a movement route, and the cleaning robot moves along the movement route to enter the base station .
- the target position is the midpoint of the laser signal reflection area
- the moving route is a line segment perpendicular to the laser signal reflection area and passing through the target position.
- FIG. 18 is a schematic diagram of projecting target detection data of the laser signal reflection area 1801 onto a grid map provided by an embodiment of the present application.
- obstacle data of the grid map is represented in the form of point cloud data.
- the point cloud data of the signal reflection area 1801 calculates the midpoint 1802, which is the target position. Then, according to the shape characteristics of the laser signal reflection area, a line segment perpendicular to the laser signal reflection area and passing the target position is set as The guide line 1803 (this guide line is the moving route). Taking the marking area shown in FIG.
- the marking area 1803 is arc-shaped, so as to make the target tangent, the target tangent is the tangent of the target position, and the perpendicular line of the target tangent is obtained to obtain the guide line. Or, you can get the guide line if you make the perpendicular line of the arc.
- the entrance direction of the base station and the extension direction of the guide line can be set to be the same.
- the entrance direction of the base station is perpendicular to the laser signal reflection area and passes the target position, then the guide line is perpendicular to the laser signal reflection area And through the target position; if the entrance direction of the base station is not perpendicular to the laser signal reflection area, the guide line is not perpendicular to the laser signal reflection area.
- the base station includes a base station body, and the side of the base station body is provided with an entry slot, and the entry slot is provided for a cleaning robot to enter the interior of the base station body.
- Guide mechanisms are provided on both sides of the slot, the identification area is located inside the main body of the base station, the moving route is a straight line, the moving route penetrates into the slot and is located between the guiding mechanisms on both sides of the slot.
- the cleaning robot When the cleaning robot is controlled to move along the moving route to enter the base station, the cleaning robot can be controlled to move along the moving route to enter the base station from between the guiding mechanisms on both sides of the slot.
- the guide mechanism is set to adjust the forward direction of the cleaning robot, specifically when the cleaning robot enters the base station and passes through the slot, if the cleaning robot collides with the inside of the guide mechanism, the force of the collision acts Next, the cleaning robot adjusts the forward movement direction to reduce the possibility of collision with the inside of the guide mechanism.
- the inner side of the guide structure is the side opposite to the guide mechanisms on both sides of the slot, and the cleaning robot enters the base station from between the inner sides of the two guide mechanisms.
- the guide mechanism is a plate-like structure; or, each guide mechanism includes multiple sets of rollers, and the rotation axis of each roller is perpendicular to the horizontal plane and belongs to the same guide Different groups of rollers have different rotation axis positions.
- the guide mechanism may also be provided with the aforementioned roller on the plate-shaped structure.
- FIG. 19 is a schematic diagram of a base station including an identification area provided by an embodiment of the present application.
- the base station includes a base station body 1900, and a side of the base station body 1900 is provided with an entry slot 1901.
- the entry slot 1901 Guiding mechanisms 1902 are provided on both sides, and an identification area (ie, laser reflection area) 1903 is provided inside the base station body 1900.
- the guiding mechanism is set to adjust the moving direction of the cleaning robot when the cleaning robot enters the base station, so that the cleaning robot accurately reaches the preset parking position on the base station.
- the base station may further include a guide surface 1904.
- a guide surface 1904 extending to the ground is provided at the entrance of the base station, a guide mechanism 1902 is provided on both sides of the guide surface 1904, and the guide surface 1904 is configured to guide the cleaning robot into the washing tank
- the cleaning robot moves along the guide surface 1904 and enters the base station until it reaches a preset position on the base station, and the guide mechanisms 1902 on both sides can facilitate the cleaning robot to be positioned correctly when entering the base station.
- the head of the cleaning robot has a rounded square structure. If the cleaning robot cannot aim at the entrance of the base station, the cleaning robot may easily hit the guide mechanism 1902 before entering the space between the two guide mechanisms 1902 (before entering the slot), thereby hindering the entrance to the base station. If the moving route is straight and the moving route penetrates into the slot and is located between the guide mechanisms on both sides of the slot, the cleaning robot can smoothly enter the base station without hitting the guide mechanism through the guide of the moving route.
- the step of controlling the cleaning robot to move along the moving route to enter the base station from the guiding mechanisms on both sides of the slot is to control the cleaning robot to move to a preset position on the moving route, at Adjust the advancing direction of the cleaning robot at the preset position so that the advancing direction of the cleaning robot is the same as the extension direction of the moving route, and the advancing direction of the cleaning robot points to the base station, and then control the cleaning robot to move along the moving route from the preset position To enter the base station from between the guide mechanisms 1902 on both sides of the entry slot 1901.
- the cleaning robot 2000 after determining the target position through the laser signal reflection area 2001, the cleaning robot 2000 sets a moving route 2002 whose direction is parallel to the extending direction of the guiding mechanism 2003 and passes through the moving route 2002 Guide, the cleaning robot 2000 is positioned at a position in front of the base station 3000 on the moving route 2002, which is aligned with the entrance of the base station 3000, and then directly enters the base station 3000 along the moving route 2002, so that the cleaning robot 2000 does not hit
- the guidance mechanism 2003 directly drives into the entrance of the base station 3000.
- Example 2 Enter the base station by adjusting the direction of advancement.
- the steps of controlling the cleaning robot to move to the target position to enter the base station specifically include:
- the cleaning robot Adjusts the forward direction of the cleaning robot toward the target position. Then, the cleaning robot is controlled to move to the target position while maintaining the adjusted advancing direction to enter the base station.
- the target position on the identification area is also the target position on the base station. If the cleaning robot's advancing direction is toward the target position, the cleaning robot's advancing direction is toward the base station. In this way, while maintaining the adjusted forward direction, the cleaning robot moves to the target position, that is, to the base station, so that it can smoothly enter the base station.
- the base station includes a base station main body, and a slot is provided on a side of the base station body, and the slot is configured for a cleaning robot to enter the base station body.
- guide mechanisms are respectively provided on both sides of the entrance slot, and the identification area is located inside the main body of the base station.
- the step of adjusting the cleaning robot's advancing direction toward the target position specifically includes: controlling the cleaning robot to move to the adjustment position, and the connection line between the adjustment position and the target position penetrates into the slot from the guide mechanisms on both sides of the slot inlet At the adjustment position, adjust the cleaning robot's forward direction toward the target position.
- the step of controlling the cleaning robot to the target position while maintaining the adjusted advancement direction to enter the base station specifically includes: controlling the cleaning robot to start from the adjusted position while maintaining the adjusted advancement direction Move to the target position to enter the base station between the guide mechanisms on both sides of the slot.
- the cleaning robot is controlled to move to the adjustment position, at the adjustment position, the advancing direction of the cleaning robot is adjusted toward the target position. Therefore, the cleaning robot is controlled to move from the adjusted position to the target position while maintaining the adjusted advancing direction, so as to enter the base station from between the guide mechanisms on both sides of the entry slot.
- the cleaning robot After the guiding mechanisms are respectively provided on both sides of the slot, the cleaning robot needs to move toward the base station in a specific direction to smoothly enter the base station between the two guiding mechanisms. To this end, the cleaning robot first reaches the preset adjustment position, so that the advancement direction of the cleaning robot is adjusted toward the target position at the adjustment position, so that the advancement direction of the cleaning robot points to the target direction through the two guide mechanisms. In this way, the cleaning robot moves to the target position while maintaining the adjusted advancing direction, and can smoothly enter the base station from the guide mechanisms on both sides of the slot.
- the detection sensor is a lidar as an example for description.
- the detection sensor of the embodiment of the present application may also be a camera, a depth sensor, or the like, which is not specifically limited in the embodiment of the present application.
- the identification area is an area set as an identification on the base station.
- the mobile robot obtains the detection data by detecting the environment through the detection sensor, it passes Identify the target detection data belonging to the identification area, and identify the target position of the identification area according to the target detection data. Because the identification area is set on the base station, the position of the base station is also identified, and then the mobile robot can be guided according to the guidance of the target position Drive precisely into the base station.
- the information processing method provided by the embodiment of the present application is described above, and the information processing device provided by the embodiment of the present application will be described below with reference to FIG. 21.
- the information processing apparatus provided by the embodiments of the present application may be integrated into the mobile robots of the foregoing embodiments.
- FIG. 21 is a schematic diagram of an embodiment of an information processing device provided by an embodiment of the present application, including: a detection unit 2101 configured to detect an environment through a detection sensor of a mobile robot to obtain detection data; and a recognition unit 2102 configured to Identifying target detection data belonging to an identification area from the detection data, the identification area being an area set as an identification on the base station; the determining unit 2103 is set to determine the target on the identification area based on the target detection data Position; processing unit 2104, set to control the mobile robot to move to the target position to enter the base station.
- a detection unit 2101 configured to detect an environment through a detection sensor of a mobile robot to obtain detection data
- a recognition unit 2102 configured to Identifying target detection data belonging to an identification area from the detection data, the identification area being an area set as an identification on the base station
- the determining unit 2103 is set to determine the target on the identification area based on the target detection data Position
- processing unit 2104 set to control the mobile robot to move to the target position to enter
- the processing unit 2104 controls the mobile robot to move to the target position to enter the base station, including:
- a moving route is set according to the target position, and the moving route extends to the target position; the mobile robot is controlled to move along the moving route to enter the base station.
- the base station includes a base station main body, a side of the base station main body is provided with an entry slot, the entrance slot is provided for the mobile robot to enter the interior of the base station main body;
- a guide mechanism is provided on each side, the identification area is located inside the main body of the base station, the moving route is a straight line, the moving route passes through the entrance slot and is located between the guide mechanisms on both sides of the entrance slot.
- the processing unit 2104 controls the mobile robot to move along the moving route to enter the base station includes:
- the mobile robot is controlled to move along the moving route to enter the base station from between the guiding mechanisms on both sides of the slot.
- the processing unit 2104 controls the mobile robot to move along the moving route to enter the base station from between the guiding mechanisms on both sides of the slot, including:
- the processing unit 2104 includes:
- the adjustment module 21041 is set to adjust the advancing direction of the mobile robot toward the target position; the processing module 21042 is set to control the mobile robot to move to the target position while maintaining the adjusted advancing direction to Enter the base station.
- the base station includes a base station main body, a side of the base station main body is provided with an entry slot, the entrance slot is provided for the mobile robot to enter the interior of the base station main body;
- a guide mechanism is provided on each side, the identification area is located inside the main body of the base station, and the adjustment module 21041 adjusts the advancing direction of the mobile robot toward the target position, including:
- the mobile robot is controlled to move from the adjusted position to the target position while maintaining the adjusted advancing direction, so as to enter the base station from between the guide mechanisms on both sides of the entry slot.
- the detection sensor is a lidar
- the detection data includes an angle, a distance value, and a light intensity
- the angle is an angle of an obstacle relative to the lidar
- the distance value is the obstacle and A distance value between the lidars
- the light intensity is the light intensity of the laser light reflected by the obstacle
- the marking area is a laser signal reflection area
- the laser signal reflection area includes a strong reflective area and a weak reflective area, the laser intensity reflected by the strong reflective area is greater than the laser intensity reflected by the weak reflective area, and the strong reflective area
- the relative positional relationship with the weakly reflective area conforms to a preset positional relationship; identifying the target detection data belonging to the identification area from the detection data by the identification unit 2102 includes: identifying from the detection data based on the position of the light intensity Target detection data of the laser signal reflection area, and the relative positional relationship between the strong light intensity and the weak light intensity of the target detection data conforms to the preset positional relationship; the determining unit 2103 determines the target detection data according to the target detection data Target locations on the identification area, including:
- the target position on the laser signal reflection area is determined according to the angle and distance values of the target detection data.
- the identification unit 2102 identifies, from the detection data, target detection data belonging to the laser signal reflection area according to the light intensity position, including:
- the initial detection data that the relative positional relationship between the strong light intensity and the weak light intensity conforms to the preset position relationship is identified according to the light intensity position; from the initial detection data, the detection is determined according to the light intensity
- the detection data of the strong reflective area and the detection data of the weak reflective area the light intensity of the detection data of the strong reflective area is greater than a preset light intensity threshold, and the light intensity of the detection data of the weak reflective area is less than or equal to The preset light intensity threshold; according to the angle and distance values of the detection data of the strong reflective area, calculate the length of the strong reflection area; based on the angle and distance of the detection data of the weak reflection area, Calculate the length of the detection weak reflection area; calculate the ratio of the length of the detection strong reflection area and the length of the detection weak reflection area to obtain the target length ratio; when the target length ratio is equal to the preset length ratio, The initial detection data is determined as target detection data belonging to the laser signal reflection area.
- the identification unit 2102 identifies, from the detection data, target detection data belonging to the laser signal reflection area according to the light intensity position, including:
- the detection data identify the detection data within the outline range of the base station; from the detection data within the outline range of the base station, identify the target detection data belonging to the laser signal reflection area according to the light intensity position; Wherein the laser signal reflection area is set within the outline range of the base station.
- the identification area is an area set as an identification on the base station.
- the mobile robot acquires the detection data through the detection environment of the detection sensor, it passes Identify the target detection data belonging to the identification area, and identify the position of the identification area based on the target detection data. Because the identification area is set on the base station, the position of the base station is also identified, which can guide the cleaning robot to drive into the base station accurately.
- An embodiment of the present application further provides a mobile robot.
- the mobile robot may include the unit modules shown in FIG. 5.
- the unit modules shown in FIG. 5 For a detailed description of these unit modules, refer to the detailed description of the embodiments shown in FIGS. 1 to 5 above.
- the controller of the mobile robot according to the embodiment of the present application may be configured to execute the information processing method of the embodiment shown in FIG. 11 and the steps executed by the information processing device in the embodiment.
- an embodiment of the present application provides an information processing device.
- the information processing device includes: a memory, a processor, and an information processing program stored on the memory and executable on the processor, where: When the information processing program is executed by the processor, implementing the information processing method described in the above embodiment is based on the same concept.
- An embodiment of the present application further provides a computer-readable storage medium, and the computer-readable storage medium stores an information processing program, wherein: when the information processing program is executed by a processor, the above-mentioned embodiment is implemented Information processing method.
- the present application also provides a computer program product, which when executed on a data processing device, is suitable for executing a program initialized with the following method steps:
- the mobile robot is controlled to move to the target position to enter the base station.
- any one of the embodiments corresponding to FIG. 11 may be implemented when the computer program product is executed.
- the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.
- computer usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
- These computer program instructions may also be stored in a computer readable memory that can guide a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, the instructions
- the device implements the functions specified in one block or multiple blocks of the flowchart one flow or multiple flows and/or block diagrams.
- These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operating steps are performed on the computer or other programmable device to generate computer-implemented processing, which is executed on the computer or other programmable device
- the instructions provide steps configured to implement the functions specified in one block or multiple blocks of the flowchart one flow or multiple flows and/or block diagrams.
- the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
- processors CPUs
- input/output interfaces network interfaces
- memory volatile and non-volatile memory
- the memory may include non-permanent memory, random access memory (RAM) and/or non-volatile memory in computer-readable media, such as read only memory (ROM) or flash memory (flash RAM).
- RAM random access memory
- ROM read only memory
- flash RAM flash memory
- Computer-readable media including permanent and non-permanent, removable and non-removable media, can store information by any method or technology.
- the information may be computer readable instructions, data structures, modules of programs, 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 technologies, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be set up to store information that can be accessed by computing devices.
- computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.
- the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.
- computer usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
一种信息处理方法,包括:通过移动机器人(100)的探测传感器探测环境,以得到探测数据(1101);从探测数据中识别属于标识区(1801)的目标探测数据(1102),标识区(1801)为设置在基站(200)上设置为标识的区域;根据目标探测数据确定标识区(1801)上的目标位置(1103);控制移动机器人(100)向目标位置移动,以进入基站(200)(1104)。
Description
相关申请
本申请要求2019年1月4日申请的,申请号201910014087.0,名称为“一种信息处理方法及相关设备”的中国专利申请的优先权,在此将其全文引入作为参考。
本申请涉及信息处理技术领域,特别涉及一种信息处理方法、信息处理装置、设备和计算机可读存储介质。
清洁机器人的类型有扫地机器人、拖地机器人等。在清洁机器人上,设有清洁件和驱动装置。在驱动装置的驱动下,清洁机器人沿设定的清洁路径进行自移动,并通过清洁件清洁地面。为了配合清洁机器人的使用,还配置有基站,基站和清洁机器人独立设置,基站设置为向清洁机器人进行充电和清洁拖擦件等操作,清洁机器人在预设的返回基站条件下,会驶向基站直至到达基站上的预设停靠位置。
清洁机器人返回基站的实现方式有多种,目前市面上常见的清洁机器人返回基站的实现方式为在基站上安装红外发射管,在清洁机器人机身上安装红外接收管,清洁机器人上的红外接收管接收到基站上的红外发射管的红外信号后,在该红外信号的指引下移向基站。
但是,对于清洁机器人而言,它经常工作在有灰尘的环境中,一些尘埃碎屑很容易对清洁机器人的机身上的红外线接收管的窗口产生干扰,并且红外线在传输过程中容易受到室内荧光灯干扰,这都会导致清洁机机器人无法找到基站的情况发生。
申请内容
本申请实施例提供了一种信息处理方法、信息处理装置、设备和计算机可读存储介质,可以引导移动机器人精准进入基站。
本申请实施例第一方面提供了一种信息处理方法,设置为移动机器人上,所述信息处理方法包括:
通过所述移动机器人的探测传感器探测环境,以得到探测数据;
从所述探测数据中识别属于标识区的目标探测数据,所述标识区为设置在基站上设置为标识的区域;
根据所述目标探测数据确定所述标识区上的目标位置;
控制所述移动机器人向所述目标位置移动,以进入所述基站。
本申请实施例第二方面还提出一种信息处理装置,所述信息处理装置包括:
探测单元,设置为通过移动机器人的探测传感器探测环境,以得到探测数据;
识别单元,设置为从所述探测数据中识别属于标识区的目标探测数据,所述标识区为设置在基站上设置为标识的区域;
确定单元,设置为根据所述目标探测数据确定所述标识区上的目标位置;
处理单元,设置为控制所述移动机器人向所述目标位置移动,以进入所述基站。
本申请实施例第三方面还提出一种信息处理设备,所述信息处理设备包括:存储器、处理器及存储在所述存储器上并可在所述处理器上运行的信息处理程序,所述信息处理程序被所述处理器执行时实现如下步骤:
通过所述移动机器人的探测传感器探测环境,以得到探测数据;
从所述探测数据中识别属于标识区的目标探测数据,所述标识区为设置在基站上设置 为标识的区域;
根据所述目标探测数据确定所述标识区上的目标位置;
控制所述移动机器人向所述目标位置移动,以进入所述基站。
本申请实施例第四方面还提出一种计算机可读存储介质,所述计算机可读存储介质上存储有信息处理程序,所述信息处理程序被处理器执行时实现如下步骤:
通过所述移动机器人的探测传感器探测环境,以得到探测数据;
从所述探测数据中识别属于标识区的目标探测数据,所述标识区为设置在基站上设置为标识的区域;
根据所述目标探测数据确定所述标识区上的目标位置;
控制所述移动机器人向所述目标位置移动,以进入所述基站。
综上所述,可以看出,本申请提供的实施例中,通过在基站上设置标识区,该标识区为基站上设置为标识的区域,移动机器人通过探测传感器探测环境获取探测数据之后,通过识别属于标识区的目标探测数据,并根据目标探测数据识别出标识区的目标位置,因标识区设置在基站上,也就识别出了基站的位置,进而根据目标位置的指引,引导清洁机器人精准地驶入基站。
图1为本申请实施例提供的清洁机器人的立体示意图;
图2为本申请实施例提供的清洁机器人拆除部分壳体后的结构示意图;
图3为本申请实施例提供的拖地机器人的仰视图;
图4为本申请实施例提供的扫地机器人的仰视图;
图5为本申请实施例提供的清洁机器人的结构示意图;
图6为本申请实施例提供的基站的立体示意图;
图7为本申请实施例提供的基站打开顶盖后的立体示意图
图8为本申请实施例提供的基站的结构示意图;
图9为本申请实施例提供的清洁机器人驶向基站的示意图;
图10为本申请实施例提供的清洁机器人停靠至基站上的状态示意图;
图11为本申请实施例提供的信息处理方法的流程图;
图12为本申请实施例提供的清洁机器人发射激光信号获取探测数据的示意图;
图13为本申请实施例提供的探测数据可视化处理后的示意图;
图14为本申请实施例提供的标识区的一个示意图;
图15为本申请实施例提供的标识区的另一示意图;
图16为本申请实施例提供的对探测数据筛选后行可视化处理的示意图;
图17为本申请实施例提供的基站轮廓的探测数据投影到世界坐标系下的栅格地图的示意图;
图18为本申请实施例提供的将激光信号反射区域的目标探测数据投影到栅格地图的示意图;
图19为本申请实施例提供的包含标识区的基站的示意图;
图20为本申请实施例提供的清洁机器人驶入基站的状态示意图;
图21为本申请实施例提供的信息处理装置的实施例示意图。
本申请实施例提供了一种信息处理方法及相关设备,可以准确的引导移动机器人进入基站。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四” 等(如果存在)是设置为区别类似的对象,而不必设置为描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换,以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外,术语“包括”和“具有”以及他们的任何变形,意图在于覆盖不排他的包含,例如,包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元,而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
本申请实施例提供了一种清洁机器人100,该清洁机器人100可设置为对地面进行自动清洁,清洁机器人100的应用场景可以为家庭室内清洁、大型场所清洁等。
其中,清洁机器人100的类型包括扫地机器人1001和拖地机器人1002等。
如图1至图5所示,清洁机器人100包括机器人主体101、驱动电机102、传感器单元103、控制器104、电池105、行走单元106、存储器107、通信单元108、机器人交互单元109、清洁件、和充电部件111等。
如图3所示,对于拖地机器人1002来说,清洁件具体为拖擦件1101,拖擦件1101例如为拖布。拖擦件1101设置为对地面进行拖地清洁。
在本申请实施例中,清洁机器人100的清洁件可以设置为可拆卸的连接方式,在需要进行拖地清洁时,将拖擦件1101安装到机器人主体101的底部;在需要进行扫地清洁时,使用边刷1102替换拖擦件1101,将边刷1102安装到机器人主体101的底部。
行走单元106为与清洁机器人100的移动相关的部件,行走单元106包括驱动轮1061和万向轮1062。控制器104设置在机器人主体101内部,控制器104设置为控制清洁机器人100执行具体的操作。该控制器104例如可以为中央处理器(Central Processing Unit,CPU)、或微处理器(Microprocessor)等。如图5所示,控制器104与电池105、存储器107、驱动电机102、行走单元106、传感器单元103、以及机器人交互单元109等部件电连接,以对这些部件进行控制。
电池105设置在机器人主体101内部,电池105设置为为清洁机器人100提供电力。
机器人主体101上还设有充电部件111,该充电部件111设置为从清洁机器人100的外部设备获取电力,从而向电池105进行充电。
存储器107设置在机器人主体101上,存储器107上存储有程序,该程序被控制器104执行时实现相应的操作。存储器107还设置为存储供清洁机器人100使用的参数。其中,存储器107包括但不限于磁盘存储器、只读光盘(Compact Disc Read-Only Memory,CD-ROM)、光学存储器等。
通信单元108设置在机器人主体101上,通信单元108设置为让清洁机器人100和外部设备进行通信,通信单元108包括但不限于无线保真(WIreless-Fidelity,WI-FI)通信模块1081和短距离通信模块1082等。清洁机器人100可以通过WI-FI通信模块1081连接WI-FI路由器,从而与终端进行通信。清洁机器人100通过短距离通信模块1082与基站进行通信。其中,基站为配合清洁机器人100使用的设备。
在机器人主体101上设置的传感器单元103包括各种类型的传感器,例如激光雷达1031、碰撞传感器1032、距离传感器1033、跌落传感器1034、计数器1035、和陀螺仪1036等。
激光雷达1031设置在机器人主体101的顶部,在工作时,激光雷达1031旋转,并通过激光雷达1031上的发射器发射激光信号,激光信号被障碍物反射,从而激光雷达1031的接收器接收障碍物反射回的激光信号。激光雷达1031的电路单元通过对接收的激光信号进行分析,可得到周围的环境信息,例如障碍物相对激光雷达1031的距离和角度等。此外,也可用摄像头替代激光雷达,通过对摄像头拍摄的图像中的障碍物进行分析,也可 得到障碍物相对摄像头的距离、角度等。
碰撞传感器1032包括碰撞壳体10321和触发传感器10322。碰撞壳体10321包绕机器人主体101的头部,具体来说,碰撞壳体10321设置在机器人主体101的头部和机器人主体101的左右两侧的靠前位置。触发传感器10322设置在机器人主体101内部且位于碰撞壳体10321之后。在碰撞壳体10321和机器人主体101之间设有弹性缓冲件。当清洁机器人100通过碰撞壳体10321与障碍物碰撞时,碰撞壳体10321向清洁机器人100内部移动,且压缩弹性缓冲件。在碰撞壳体10321向清洁机器人100内部移动一定距离后,碰撞壳体10321与触发传感器10322接触,触发传感器10322被触发产生信号,该信号可发送到机器人主体101内的控制器104,以进行处理。在碰完障碍物后,清洁机器人100远离障碍物,在弹性缓冲件的作用下,碰撞壳体10321移回原位。可见,碰撞传感器1032可对障碍物进行检测,以及当碰撞到障碍物后,起到缓冲作用。
距离传感器1033具体可以为红外探测传感器,可设置为探测障碍物至距离传感器1033的距离。距离传感器1033设置在机器人主体101的侧面,从而通过距离传感器1033可测出位于清洁机器人100侧面附近的障碍物至距离传感器1033的距离值。距离传感器1033也可以是超声波测距传感器、激光测距传感器或者深度传感器等。
跌落传感器1034设置在机器人主体101的底部边缘,数量可以为一个或多个。当清洁机器人100移动到地面的边缘位置时,通过跌落传感器1034可探测出清洁机器人100有从高处跌落的风险,从而执行相应的防跌落反应,例如清洁机器人100停止移动、或往远离跌落位置的方向移动等。
在机器人主体101的内部还设有计数器1035和陀螺仪1036。
应该理解,本申请实施例描述的清洁机器人100只是一个具体示例,并不对本申请实施例的清洁机器人100构成具体限定,本申请实施例的清洁机器人100还可以为其它的具体实现方式。例如,在其它的实现方式中,清洁机器人可以比图1所示的清洁机器人100有更多或更少的部件。再如清洁机器人可以为扫拖一体机器人,即该清洁机器人的底部设有拖擦件、边刷、和吸风口,从而该清洁机器人可以对地面同时进行拖地和扫地。
本申请实施例还提供了一种基站200,基站200设置为和清洁机器人100配合使用,例如,基站200可以向清洁机器人100进行充电、基站200可以向清洁机器人100提供停靠位置等。在清洁机器人100为拖地机器人时,基站200还可以清洗拖地机器人的拖擦件1101。其中,拖擦件1101设置为对地面进行拖地清洁。
如图6和图7所示,本申请实施例的基站200包括基站主体202、清洗槽203和水箱204。
清洗槽203设置在基站主体202上,清洗槽203设置为清洗拖地机器人的拖擦件1101。设置在清洗槽203上的清洗肋2031可对拖擦件1101进行刮擦清洁。
在基站主体202上设有入槽口205,入槽口205通向清洗槽203。清洁机器人100可通过入槽口205驶入基站200,以使得清洁机器人100停靠在基站200上的预设停靠位置。
参阅图8,本申请实施例的基站200还包括控制器206、通信单元207、存储器208、水泵209和基站交互单元210等。
控制器206设置在基站主体202内部,控制器206设置为控制基站200执行具体的操作。控制器206例如可以为中央处理器(Central Processing Unit,CPU)、或微处理器(Microprocessor)等。其中,控制器206与通信单元207、存储器208、水泵209和基站交互单元210电连接。
存储器208设置在基站主体202上,存储器208上存储有程序,该程序被控制器206执行时实现相应的操作。存储器208还设置为存储供基站200使用的参数。其中,存储器 208包括但不限于磁盘存储器、CD-ROM、光学存储器等。
通信单元207设置在基站主体202上,通信单元207设置为和外部设备进行通信,通信单元207包括但不限于无线保真(WIreless-Fidelity,WI-FI)通信模块2071和短距离通信模块2072等。基站200可以通过WI-FI通信模块2071连接WI-FI路由器,从而与终端进行通信。基站200可通过短距离通信模块2072与清洁机器人100进行通信。
基站交互单元210设置为和用户进行交互。基站交互单元210例如包括显示屏2101和控制按钮2102,显示屏2101和控制按钮2102设置在基站主体202上,显示屏2101设置为向用户展示信息,控制按钮2102设置为供用户进行按压操作,以控制基站200的开机或停机等。
基站主体202上还设有供电部件,而清洁机器人上设有充电部件111,当清洁机器人100停靠在基站200上的预设停靠位置后,清洁机器人100的充电部件111和基站200的供电部件接触,从而基站200向清洁机器人100进行充电。其中,基站200的电能可来源于市电。
下文对清洁机器人100和基站200配合工作的过程进行示例性说明:
清洁机器人100对房间的地面进行清洁,当清洁机器人100上的电池105的电量少于预设电量阈值时,如图9所示,清洁机器人100自动驶向基站200。清洁机器人100通过基站200上的入槽口205进入基站200,并停靠在基站200上的预设停靠位置。清洁机器人100停靠在基站200上的状态可参阅图10。
当清洁机器人100是拖地机器人,且该拖地机器人的底部设有拖擦件1101时,清洁机器人100设置为对地面进行拖地清洁。清洁机器人100对房间地面拖地一段时间,拖擦件1101变脏污后,清洁机器人100驶向基站200。清洁机器人100通过基站200上的入槽口205进入基站200,并停靠在基站200上的预设停靠位置。此时,清洁机器人100的拖擦件1101容置在清洗槽203上,在水泵209的作用下,基站200内的清水箱的清洁用水流向清洗槽203,通过清洗槽203上的进液结构喷向拖擦件1101上,同时拖擦件1101与清洁槽内的凸起的清洗肋2031刮擦,从而实现对拖擦件1101的清洁。在水泵209的作用下,清洗拖擦件1101后的脏污水从清洁槽上的排液结构流出清洗槽203,并进入污水箱。
应该理解,本申请实施例描述的基站200只是一个具体示例,并不对本申请实施例的基站200构成具体限定,本申请实施例的基站200还可以为其它的具体实现方式,例如,本申请实施例的基站200可以不包括水箱204,基站主体202可以连接自来水管和排水管,从而使用自来水管的自来水清洗清洁机器人100的拖擦件1101,清洗拖擦件1101后的脏污水由清洗槽203通过排水管流出基站200。
上面对本申请实施例提供的清洁机器人、拖地机器人、扫地机器人以及基站的结构进行说明,下面从信息处理装置的角度对本申请实施例提供的信息处理方法进行说明,该信息处理装置可以是集成在移动机器人上的装置,可以是软件指令模块,也可以是硬件装置,本申请实施例对此不作具体限定。
为了描述更加直观,下文将以移动机器人为清洁机器人为例,对本申请实施例的信息处理方法进行说明。应该理解,执行本申请实施例的信息处理方法的移动机器人还可以是其它种类的移动机器人,例如仓库机器人、展会机器人等等自移动机器人。
该方法应用于清洁机器人上,该方法包括:
步骤1101:通过清洁机器人的探测传感器探测环境,以得到探测数据。
本实施例中,信息处理装置可以通过清洁机器人的探测传感器探测环境,以得到探测数据,其中,该探测传感器为激光雷达,该探测数据包括角度、距离值和光强,该角度为障碍物相对于激光雷达的角度,该距离值为障碍物和激光雷达之间的距离值,该光强为障 碍物反射的激光的光强。也就是说,如图12所示,清洁机器人通过激光雷达1201发射激光,激光投射到障碍物上的障碍点1202后被反射,激光雷达1201上的接收器接收被反射的激光,激光雷达1202对接收到的激光进行分析,得到障碍点的距离d1和角度θ以及反射的激光的强度。
在本申请实施例中,激光雷达1201探测的是探测平面上的环境,即激光雷达1201探测到的是一个平面上的障碍点的信息。探测数据为激光雷达1201旋转一周采样的数据,换言之,探测数据为激光雷达在其周围360度范围内进行一次采样得到的数据。在具体的实现方式中,激光雷达1201对探测数据进行离散化采集,具体为,激光雷达1201在采样点处记录探测数据,激光雷达1201的采样点为激光雷达上的环绕激光雷达设定的点,采样点可和探测数据中的角度对应,通过一采样点的角度可确定出该采样点记录的具体探测数据的角度。
例如,如图13所示,图13是将探测数据可视化处理后的结果,其中,图13的横坐标表示激光雷达的采样点下标数值,纵坐标表示光强。其中,激光雷达的采样点为激光雷达上的环绕激光雷达设定的点,采样点和探测数据中的角度对应。
需要说明的是,该探测数据可以为激光雷达所在的探测平面上的环境对应的数据,也可以为该清洁机器人所处的三维空间的环境中三维探测数据,换言之,激光雷达可以为探测二维平面的激光雷达,也可以为探测三维空间的激光雷达,具体不做限定。另外,为了描述简便,下面例子以探测二维平面的激光雷达为例进行描述,该激光雷达探测到的探测数据均为探测平面上的数据。
步骤1102:从探测数据中识别属于标识区的目标探测数据。
本实施例中,信息处理装置在得到探测数据之后,可以从探测数据中识别属于标识区的目标探测数据,其中,该标识区为设置于基站上设置为标识的区域。清洁机器人可以根据标识区的特征,从探测数据中识别出标识区的目标探测数据。
例如,该标识区为激光信号反射区域,该激光信号反射区域包括强反光区和弱反光区,该强反光区反射的激光强度大于弱反光区反射的激光强度,该强反光区和弱反光区的相对位置符合预设位置关系。这样,清洁机器人即可根据探测数据中的强反光区和弱反光区是否符合预设位置关系来识别标识区的目标探测数据。
请参阅图14以及图15,图14为本申请实施例提供的激光信号反射区域的一个示意图,图15为本申请实施例提供的激光信号反射区域的另一示意图,其中如图14中黑色区域为强反光区,白色区域为弱反光区,图15中的黑色区域为强反光区,白色区域为弱反光区。
需要说明的是,在激光信号反射区域中,用强反光的材料制作强反光区,用吸光材料制作弱反光区,强反光的材料可以是玻璃珠或者反光膜等,弱反光区的吸光材料可以是亚克力、PC或者ABS塑料等。可以理解的是,采用强反光的材料制作的强反光区,一方面可以增加激光雷达有效点的数据;另一方面,在普通家庭中较少强反光物体,从而可以减低环境噪声。
需要说明的是,图14中所示的为二维平面的探测数据对应的标识区,由3个强反光区和2个弱反光区间隔组成,图15中所示的为三维空间的探测数据对应的标识区,由5个强反光区和4个弱反光区间隔组成,当然也还可以有其他的组成方式,具体不限定,另外,标识的结构形式有多种,图14以长方形为例进行说明,图15以正方形为例进行说明,并不代表对其的限定,标识区还可以为其他的结构形式,例如可以为长条形的平面结构,长条形的曲面结构,长条形的凹凸的平面或曲面结构。
应该理解,本申请实施例的标识区还可以是其它的实现方式,例如由多种特定颜色组 成的颜色组合,此时,探测传感器可以是摄取图像的摄像头。或者,标识区为具有特定凹凸结构的部件,此时,探测传感器例如可以为激光雷达、或者深度传感器等。
在一个实施例中,信息处理装置从探测数据中识别属于标识区的目标探测数据可以包括:
从探测数据中,根据光强位置识别属于激光信号反射区域的目标探测数据。其中,目标探测数据的强光强和弱光强的相对位置关系符合预设位置关系。
本实施例中,信息处理装置可以从探测数据中,根据光强位置识别属于激光信号反射区域的目标探测数据,其中,该目标探测数据的强光强和弱光强的相对位置关系符合预设位置关系,预设位置关系为激光信号反射区域的强反光区和弱反光区的位置关系,例如,该预设位置关系如图14以及图15中的强反光区与弱反光区的位置之间的关系。因激光信号反射区域包括间隔设置的强反光区和弱反光区,强反光区反射的激光强度较强,弱反光区反射的激光强度较弱,从而标识区反射的激光有强度为强弱交替的特点。根据该特点,即可从探测数据的范围内,筛选出属于激光信号反射区域的目标探测数据。
在一个实施例中,从探测数据中,根据光强位置识别属于激光信号反射区域的目标探测数据的步骤具体包括如下的步骤A1至步骤A6。
步骤A1:从探测数据中,根据光强位置识别出强光强和弱光强的相对位置关系符合预设位置关系的初始探测数据;
步骤A2:从初始探测数据中,根据光强确定出探测强反光区的探测数据和探测弱反光区的探测数据。其中,探测强反光区的探测数据的光强大于预设光强阈值,探测弱反光区的探测数据的光强小于或等于预设光强阈值;
步骤A3:根据探测强反光区的探测数据的角度和距离值,计算出探测强反光区的长度;
步骤A4:根据探测弱反光区的探测数据的角度和距离值,计算出探测弱反光区的长度;
步骤A5:计算探测强反光区的长度和探测弱反光区的长度的比值,得到目标长度比值;
步骤A6:当目标长度比值等于预设长度比值时,将初始探测数据确定为属于激光信号反射区域的目标探测数据。
本实施例中,信息处理装置可以首先从探测数据中,根据光强位置识别出强光强和弱光强的相对位置关系符合预设位置关系的初始探测数据,具体的,设定一个光强阈值,然后,以光强阈值为基准,对探测数据的光强进行二值化,将大于光强阈值的点确定为强光点,将小于光强阈值的点确定为弱光点,以图14中所示的标识区为例进行说明,该标识区由3个强反光区和2个弱反光区间隔设置得到,从而该标识区反射的激光信号会有3段强光连续区域(强光点组成的连续区域)和2段弱光连续区域(弱光点组成的连续区域)交替间隔(交替情况为:强-弱-强-弱-强),在对探测数据进行二值化后,从中筛选出连续交替间隔的强光连续区域和弱光连续区域(强-弱-强-弱-强),识别出的区域可能为符合预设位置关系的初始探测数据对应的区域,例如将图13的信息进行筛选后,得到如图16所示的图示,图16中这些区域可能为激光信号反射区域。图16中的激光信号反射区域的信息也可以使用二进制数据进行表示:“1111100000111110000011111”,其中,1表示大于光强阈值的点,0表示小于光强阈值的点;连续的1表示强光连续区域,连续的0表示弱光连续区域。每个点的排序以探测数据的角度的变化顺序或者是激光雷达的采样点的顺序进行排序。
为了保证对信息处理的准确性,需要对筛选出的激光反射区域的初始探测数据进行验 证,以确定该初始探测数据是否属于激光信号反射区域的目标探测数据,具体如下:
首先根据光强确定出探测强反光区的探测数据和探测弱反光区的探测数据,该探测强反光区的探测数据的光强大于预设光强阈值,该探测弱反光区的探测数据的光强小于或等于预设光强阈值,之后通过探测强反光区的探测数据的角度和距离值,计算出探测强反光区的长度。以及通过探测弱反光区的探测数据的角度和距离值,计算出探测弱反光区的长度。然后,计算探测强反光区的长度和探测弱反光区的长度的比值,得到目标长度比值,最后,判断该目标长度比值是否等于预设长度比值,该预设长度比值为实际应用中激光信号反射区域的强反光区的长度与弱反光区的长度的比值,以图12中所示的标识区为例进行说明,该标识区由3个强反光区和2个弱反光区间隔设置得到,假设该标识区的不同反光区的长度的比值依次为1:1:1:1:1,对初始探测数据进行二值化后,得到交替间隔的强光连续区域和弱光连续区域(强-弱-强-弱-强),计算强反光区的长度和弱反光区长度的比值,得到目标长度比值,判断该目标长度比值是否为预设长度比值,若是,则确定该初始探测数据为属于激光信号反射区域的目标探测数据,若否,则重新通过激光雷达进行环境探测获取探测数据。
在一个实施例中,从探测数据中,根据光强位置识别属于激光信号反射区域的目标探测数据的步骤具体包括:
从探测数据中,识别出基站的轮廓范围内的探测数据。然后,从基站的轮廓范围内的探测数据中,根据光强位置识别属于激光信号反射区域的目标探测数据。其中,激光信号反射区域设置在基站的轮廓范围内。
本实施例中,可以首先从探测数据中识别出基站的轮廓范围内的探测数据,由于该激光反射区域设置于基站上,则该激光反射区域的探测数据也一定包含于该基站的轮廓范围内的探测数据内,由此,可以从基站的轮廓范围内的探测数据中,根据光强位置识别属于激光信号反射区域的目标探测数据。
需要说明的是,清洁机器人上预先保存有基站轮廓的标准探测数据,当通过激光雷达获取到探测数据后,使用基站轮廓的标准探测数据和探测数据匹配,在探测数据中,找出和基站轮廓的标准探测数据符合预设相似度的探测数据,探测数据中与基站轮廓的标准探测数据符合预设相似度的探测数据即为当前探测到的基站轮廓的探测数据。
结合图17进行说明,图17为本申请实施例提供的基站轮廓的探测数据投影到世界坐标系下的栅格地图的示意图,在该栅格地图中,找出形状特征和预设的基站轮廓(标准探测数据)相似度符合阈值的轮廓,该找出的轮廓即为基站轮廓。例如使用预设的基站轮廓,通过迭代最近点(Iterative Closest Point,ICP)算法、或者曲线拟合方法在图17所示的栅格地图中寻找出基站轮廓的数据。
可以理解的是,确定基站轮廓的探测数据的方式还可以是搜索符合预设的基站轮廓的特征的探测数据,作为基站轮廓的探测数据。例如:按照激光雷达的采样点顺序排列探测数据的距离,若一段连续的探测数据的距离为连续增大,然后距离不变,然后距离连续减小,则确定这段探测数据为基站轮廓的探测数据。激光雷达探测的是一个平面(探测平面)上的障碍点的信息,从而该基站轮廓也是基站在该探测平面上的轮廓信息。需要注意的是,此时,为了使得激光雷达探测到标识区反射回的数据,标识区设置在基站上后,标识区需要位于激光雷达的探测平面上。
需要说明的是,上述已经对从探测数据中,根据光强位置识别属于激光信号反射区域的目标探测数据进行详细说明,此处从基站的轮廓范围内的探测数据中,根据光强位置识别属于激光信号反射区域的目标探测数据与上述说明的实现方式类似,在此处不再赘述。
步骤1103:根据目标探测数据确定标识区上的目标位置。
本实施例中,可以根据目标探测数据的角度和距离值,确定激光信号反射区域上的目标位置。
目标位置为标识区上的预设的位置,例如标识区的中点、标识区的端点等等,本申请实施例对此不作具体限定。
在本申请实施例中,以该目标位置为激光信号反射区域的中心点为例进行描述。
步骤1104:控制清洁机器人向目标位置移动,以进入基站。
因标识区为设置在基站上设置为标识的区域,标识区上的目标位置也为基站上的目标位置。清洁机器人确定出目标位置后,可根据目标位置的指引,向目标位置移动,从而进入基站。
步骤1104的具体实现方式有多种,下面即举出其中两个示例进行说明:
示例一:通过设定移动路线的方式进入基站。
本示例一中,信号处理装置可以首先按照目标位置设定移动路线,该移动路线延伸至目标位置,之后控制清洁机器人沿该移动路线移动,以进入基站。具体的,该目标位置为根据激光信号反射区域求出的点(例如激光信号反射区域的中心点),该目标位置设置为求出移动路线,该清洁机器人沿着该移动路线移动即可进入基站。
在本示例一中,目标位置为激光信号反射区域的中点,移动路线为垂直于激光信号反射区域且通过目标位置的线段。
例如,图18为本申请实施例提供的将激光信号反射区域1801的目标探测数据投影到栅格地图的示意图,参阅图18,栅格地图的障碍物数据以点云数据的形式表示,根据激光信号反射区域1801的点云数据计算出中点1802,该中点1802即为目标位置,然后,根据激光信号反射区域的形状特征,设定垂直于激光信号反射区域且通过目标位置的线段,作为引导线1803(该引导线即为移动路线)。以图14所示的标识区为例进行说明,该标识区1803为圆弧状,从而做目标切线,目标切线为目标位置的切线,做目标切线的中垂线,得到引导线。或者,做圆弧的中垂线,都得到引导线。
因引导线设置为指引清洁机器人进入基站,可设定基站的入口方向和引导线的延伸方向相同,基站的入口方向垂直于激光信号反射区域且通过目标位置,则引导线垂直于激光信号反射区域且通过目标位置;若基站的入口方向不垂直于激光信号反射区域,则引导线不垂直于激光信号反射区域。
在一个实施例中,基站包括基站主体,基站主体的侧面设有入槽口,入槽口设置为供清洁机器人进入基站主体的内部。在入槽口两侧分别设置有导向机构,标识区位于基站主体的内部,移动路线为直线,移动路线贯通入槽口且位于入槽口两侧的导向机构之间。
当控制清洁机器人沿移动路线移动,以进入基站时,可以控制清洁机器人沿移动路线移动,以从入槽口两侧的导向机构之间进入基站。
在本申请实施例中,导向机构设置为调整清洁机器人的前移方向,具体为当清洁机器人在进入基站,通过入槽口时,若清洁机器人碰撞到导向机构的内侧,在碰撞的作用力作用下,清洁机器人调整前移方向,减少和导向机构的内侧碰撞的可能。其中,导向结构的内侧为入槽口两侧的导向机构互相相对的侧面,清洁机器人从两导向机构的内侧之间进入基站。
在本申请实施例中,导向机构的具体实现方式有多种,例如,导向机构为板状结构;或者,每一导向机构包括多组滚轮,每一滚轮的旋转轴线垂直于水平面,属于同一导向机构的不同组滚轮的旋转轴线位置不同。当然,导向机构也可以为在板状结构上设置前述的滚轮。
例如,结合图19进行说明,图19为本申请实施例提供的包含标识区的基站的示意图, 该基站包括基站主体1900,该基站主体1900的侧面设有入槽口1901,该入槽口1901两侧设有导向机构1902,且该基站主体1900内部设有标识区(也即激光反射区域)1903。导向机构设置为在清洁机器人进入基站时,调整清洁机器人的移动方向,使得清洁机器人准确到达基站上的预设停靠位置。基站还可以包括导向面1904,具体来说,基站的入口处设有延伸到地面的导向面1904,在导向面1904两侧设置有导向机构1902,导向面1904设置为引导清洁机器人驶入清洗槽,清洁机器人沿导向面1904移动驶入基站,直至基站上的预设位置,而两侧的导向机构1902可以方便清洁机器人在进入基站的过程中摆正位置。
在本申请实施例中,清洁机器人的头部为倒圆角的方形结构。若清洁机器人不能对准基站的入口,清洁机器人在进入两导向机构1902之间的空间前(进入入槽口前),容易撞到导向机构1902上,从而阻碍进入基站。若移动路线为直线,移动路线贯通入槽口且位于入槽口两侧的导向机构之间,则通过移动路线的引导,清洁机器人可不撞到导向机构,顺利地进入基站内部。
在具体的实现方式中,控制清洁机器人沿移动路线移动,以从入槽口两侧的导向机构之间进入基站的步骤的实现方式为:控制清洁机器人移动至移动路线上的预设位置,在预设位置处调整清洁机器人的前进方向,以使清洁机器人的前进方向和移动路线的延伸方向相同,且清洁机器人的前进方向指向基站,之后,控制清洁机器人从预设位置处开始沿移动路线移动,以从入槽口1901两侧的导向机构1902之间进入基站。
例如,如图20所示,清洁机器人2000通过激光信号反射区域2001确定出目标位置后,设定出移动路线2002,该移动路线2002的方向平行于导向机构2003的延伸方向,通过移动路线2002的引导,清洁机器人2000在移动路线2002上的一位于基站3000前的位置即摆正位置,对准基站3000的入口,然后沿移动路线2002直接驶入基站3000,这样可以使得清洁机器人2000不撞到导向机构2003,直接驶入基站3000的入口。
示例二:通过调整前进方向的方式进入基站。
在本示例二中,控制清洁机器人向目标位置移动,以进入基站的步骤具体包括:
调整清洁机器人的前进方向朝向目标位置。然后,控制清洁机器人在保持调整后的前进方向的状态下,向目标位置移动,以进入基站。
因标识区设置在基站上,标识区上的目标位置也为基站上的目标位置。清洁机器人的前进方向朝向目标位置,则清洁机器人的前进方向朝向基站。这样,在保持调整后的前进方向的状态下,清洁机器人向目标位置移动,即为向基站移动,从而可顺利地进入基站。
在一具体的实现方式中,该基站包括基站主体,基站主体的侧面设有入槽口,入槽口设置为供清洁机器人进入基站主体的内部。另外,在入槽口两侧分别设置有导向机构,标识区位于基站主体的内部。关于入槽口和导向机构的更多描述,可参阅上文的示例一的详细描述,以及参阅图19的图示。此时,上述调整清洁机器人的前进方向朝向目标位置的步骤具体包括:控制清洁机器人移动至调整位置,调整位置和目标位置之间的连线从入槽口两侧的导向机构之间贯通入槽口;在调整位置处,调整清洁机器人的前进方向朝向目标位置。
相应地,上述控制清洁机器人在保持调整后的前进方向的状态下,向目标位置移动,以进入基站的步骤具体包括:控制清洁机器人在保持调整后的前进方向的状态下,从调整位置处开始向目标位置移动,以从入槽口两侧的导向机构之间进入基站。
换言之,控制清洁机器人移动至调整位置后,在调整位置处,调整清洁机器人的前进方向朝向目标位置。从而,控制清洁机器人在保持调整后的前进方向的状态下,从调整位置处开始向目标位置移动,以从入槽口两侧的导向机构之间进入基站。
在入槽口两侧分别设置有导向机构后,清洁机器人需要在特定的方向上向基站移动,才能顺利地从两个导向机构之间进入基站。为此,清洁机器人先到达预设的调整位置,从而在调整位置处调整清洁机器人的前进方向朝向目标位置,以使得清洁机器人的前进方向通过两个导向机构之间指向目标方向。这样,清洁机器人在保持调整后的前进方向的状态下向目标位置移动,即可实现从入槽口两侧的导向机构之间顺利进入基站。
应该理解,本申请上述实施例中,以探测传感器为激光雷达为例进行说明,本申请实施例的探测传感器还可以为摄像头、或者深度传感器等,本申请实施例对此不作具体限定。
综上所述,可以看出,本申请提供的实施例中,通过在基站上设置标识区,该标识区为基站上设置为标识的区域,移动机器人通过探测传感器探测环境获取探测数据之后,通过识别属于标识区的目标探测数据,并根据目标探测数据识别出标识区的目标位置,因标识区设置在基站上,也就识别出了基站的位置,进而根据目标位置的指引,可以引导移动机器人精准地驶入基站。
上面对本申请实施例提供的信息处理方法进行说明,下面结合图21对本申请实施例提供的信息处理装置进行说明。本申请实施例提供的信息处理装置可集成到上述各个实施例的移动机器人上。
请参阅图21,图21为本申请实施例提供的信息处理装置的实施例示意图,包括:探测单元2101,设置为通过移动机器人的探测传感器探测环境,以得到探测数据;识别单元2102,设置为从所述探测数据中识别属于标识区的目标探测数据,所述标识区为设置在基站上设置为标识的区域;确定单元2103,设置为根据所述目标探测数据确定所述标识区上的目标位置;处理单元2104,设置为控制所述移动机器人向所述目标位置移动,以进入所述基站。
可选地,所述处理单元2104控制所述移动机器人向所述目标位置移动,以进入所述基站,包括:
根据所述目标位置设定移动路线,所述移动路线延伸至所述目标位置;控制所述移动机器人沿所述移动路线移动,以进入所述基站。
可选地,所述基站包括基站主体,所述基站主体的侧面设有入槽口,所述入槽口设置为供所述移动机器人进入所述基站主体的内部;在所述入槽口两侧分别设置有导向机构,所述标识区位于所述基站主体的内部,所述移动路线为直线,所述移动路线贯通所述入槽口且位于所述入槽口两侧的导向机构之间;所述处理单元2104控制所述移动机器人沿所述移动路线移动,以进入所述基站包括:
控制所述移动机器人沿所述移动路线移动,以从所述入槽口两侧的导向机构之间进入所述基站。
可选地,所述处理单元2104控制所述移动机器人沿所述移动路线移动,以从所述入槽口两侧的导向机构之间进入所述基站,包括:
控制所述移动机器人移动至所述移动路线上的预设位置;在所述预设位置处调整所述移动机器人的前进方向,以使所述移动机器人的前进方向和所述移动路线的延伸方向相同,且所述移动机器人的前进方向指向所述基站;控制所述移动机器人从所述预设位置处开始沿所述移动路线移动,以从所述入槽口两侧的导向机构之间进入所述基站。
可选地,所述处理单元2104包括:
调整模块21041,设置为调整所述移动机器人的前进方向朝向所述目标位置;处理模块21042,设置为控制所述移动机器人在保持调整后的前进方向的状态下,向所述目标位置移动,以进入所述基站。
可选地,所述基站包括基站主体,所述基站主体的侧面设有入槽口,所述入槽口设置 为供所述移动机器人进入所述基站主体的内部;在所述入槽口两侧分别设置有导向机构,所述标识区位于所述基站主体的内部,所述调整模块21041调整所述移动机器人的前进方向朝向所述目标位置,包括:
控制所述移动机器人移动至调整位置,所述调整位置和所述目标位置之间的连线从所述入槽口两侧的导向机构之间贯通所述入槽口;在所述调整位置处,调整所述移动机器人的前进方向朝向所述目标位置;所述处理模块21042控制所述移动机器人在保持调整后的前进方向的状态下,向所述目标位置移动,以进入所述基站,包括:
控制所述移动机器人在保持调整后的前进方向的状态下,从所述调整位置处开始向所述目标位置移动,以从所述入槽口两侧的导向机构之间进入所述基站。
可选地,所述探测传感器为激光雷达,所述探测数据包括角度、距离值和光强,所述角度为障碍物相对于所述激光雷达的角度,所述距离值为所述障碍物和所述激光雷达之间的距离值,所述光强为所述障碍物反射的激光的光强;
所述标识区为激光信号反射区域,所述激光信号反射区域包括强反光区和弱反光区,所述强反光区反射的激光强度大于所述弱反光区反射的激光强度,所述强反光区和所述弱反光区的相对位置关系符合预设位置关系;所述识别单元2102从所述探测数据中识别属于标识区的目标探测数据包括:从所述探测数据中,根据光强位置识别属于所述激光信号反射区域的目标探测数据,所述目标探测数据的强光强和弱光强的相对位置关系符合所述预设位置关系;所述确定单元2103根据所述目标探测数据确定所述标识区上的目标位置,包括:
根据所述目标探测数据的角度和距离值,确定所述激光信号反射区域上的目标位置。
可选地,所述识别单元2102从所述探测数据中,根据光强位置识别属于所述激光信号反射区域的目标探测数据,包括:
从所述探测数据中,根据光强位置识别出强光强和弱光强的相对位置关系符合所述预设位置关系的初始探测数据;从所述初始探测数据中,根据光强确定出探测强反光区的探测数据和探测弱反光区的探测数据,所述探测强反光区的探测数据的光强大于预设光强阈值,所述探测弱反光区的探测数据的光强小于或等于所述预设光强阈值;根据所述探测强反光区的探测数据的角度和距离值,计算出所述探测强反光区的长度;根据所述探测弱反光区的探测数据的角度和距离值,计算出所述探测弱反光区的长度;计算所述探测强反光区的长度和所述探测弱反光区的长度的比值,得到目标长度比值;当所述目标长度比值等于预设长度比值时,将所述初始探测数据确定为属于所述激光信号反射区域的目标探测数据。
可选地,所述识别单元2102从所述探测数据中,根据光强位置识别属于所述激光信号反射区域的目标探测数据,包括:
从所述探测数据中,识别出所述基站的轮廓范围内的探测数据;从所述基站的轮廓范围内的探测数据中,根据光强位置识别属于所述激光信号反射区域的目标探测数据;其中,所述激光信号反射区域设置在所述基站的轮廓范围内。
本实施例中的信息处理装置的各单元之间的交互方式如前述图11所示实施例中的描述,具体此处不再赘述。
综上所述,可以看出,本申请提供的实施例中,通过在基站上设置标识区,该标识区域为基站上设置为标识的区域,移动机器人通过探测传感器探测环境获取探测数据之后,通过识别属于标识区的目标探测数据,并根据目标探测数据识别出标识区的位置,因标识区设置在基站上,也就识别出了基站的位置,进而可以引导清洁机器人精准地驶入基站。
本申请实施例还提供了一种移动机器人,该移动机器人可包括图5所示的单元模块, 关于这些单元模块的详细描述,可参阅上文图1至图5所示实施例的详细描述。
其中,本申请实施例的移动机器人的控制器可设置为执行上述图11所示实施例的信息处理方法,以及上述实施例中由信息处理装置所执行的步骤。
所属领域的技术人员可以清楚地了解到,为描述的方便和简洁,上述描述的系统,装置和单元的具体工作过程,可以参考前述方法实施例中的对应过程,在此不再赘述。
基于相同构思,本申请实施例提供了一种信息处理设备,所述信息处理设备包括:存储器、处理器及存储在所述存储器上并可在所述处理器上运行的信息处理程序,其中:所述信息处理程序被所述处理器执行时实现上述实施例所述的信息处理方法基于相同构思。本申请实施例还提供了一种计算机可读存储介质,所述计算机可读存储介质上存储有信息处理程序,其中:所述信息处理程序被处理器执行时,实现上述所述实施例所述的信息处理方法。
本申请还提供了一种计算机程序产品,当在数据处理设备上执行时,适于执行初始化有如下方法步骤的程序:
通过所述移动机器人的探测传感器探测环境,以得到探测数据;
从所述探测数据中识别属于标识区的目标探测数据,所述标识区为设置在基站上设置为标识的区域;
根据所述目标探测数据确定所述标识区上的目标位置;
控制所述移动机器人向所述目标位置移动,以进入所述基站。
在具体实施过程中,执行计算机程序产品时可以实现图11对应的实施例中任一实施方式。
本领域内的技术人员应明白,本申请的实施例可提供为方法、系统、或计算机程序产品。因此,本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生设置为实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程设备上执行的指令提供设置为实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中,计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
存储器可能包括计算机可读介质中的非永久性存储器,随机存取存储器(RAM)和/或 非易失性内存等形式,如只读存储器(ROM)或闪存(flash RAM)。存储器是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括,但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带,磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质,可设置为存储可以被计算设备访问的信息。按照本文中的界定,计算机可读介质不包括暂存电脑可读媒体(transitory media),如调制的数据信号和载波。
还需要说明的是,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。
本领域技术人员应明白,本申请的实施例可提供为方法、系统或计算机程序产品。因此,本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且,本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
以上仅为本申请的实施例而已,并不设置为限制本申请。对于本领域技术人员来说,本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等,均应包含在本申请的权利要求范围之内。
Claims (20)
- 一种信息处理方法,设置为移动机器人上,所述移动机器人设有与之配合使用的基站,其中,所述信息处理方法包括:通过所述移动机器人的探测传感器探测环境,以得到探测数据;从所述探测数据中识别属于标识区的目标探测数据,所述标识区为设置在基站上设置为标识的区域;根据所述目标探测数据确定所述标识区上的目标位置;控制所述移动机器人向所述目标位置移动,以进入所述基站。
- 根据权利要求1所述的信息处理方法,其中,所述控制所述移动机器人向所述目标位置移动,以进入所述基站的步骤包括:根据所述目标位置设定移动路线,所述移动路线延伸至所述目标位置;控制所述移动机器人沿所述移动路线移动,以进入所述基站。
- 根据权利要求2所述的信息处理方法,其中,所述目标位置为标识区的中点,所述移动路线为垂直于标识区且通过目标位置的线段。
- 根据权利要求2所述的信息处理方法,其中,所述基站包括基站主体,所述基站主体的侧面设有入槽口,所述入槽口设置为供所述移动机器人进入所述基站主体的内部;在所述入槽口两侧分别设置有导向机构,所述标识区位于所述基站主体的内部,所述移动路线为直线,所述移动路线贯通所述入槽口且位于所述入槽口两侧的导向机构之间;所述控制所述移动机器人沿所述移动路线移动,以进入所述基站的步骤包括:控制所述移动机器人沿所述移动路线移动,以从所述入槽口两侧的导向机构之间进入所述基站。
- 根据权利要求4所述的信息处理方法,其中,所述控制所述移动机器人沿所述移动路线移动,以从所述入槽口两侧的导向机构之间进入所述基站的步骤包括:控制所述移动机器人移动至所述移动路线上的预设位置;在所述预设位置处调整所述移动机器人的前进方向,以使所述移动机器人的前进方向和所述移动路线的延伸方向相同,且所述移动机器人的前进方向指向所述基站;控制所述移动机器人从所述预设位置处开始沿所述移动路线移动,以从所述入槽口两侧的导向机构之间进入所述基站。
- 根据权利要求1所述的信息处理方法,其中,所述控制所述移动机器人向所述目标位置移动,以进入所述基站的步骤包括:调整所述移动机器人的前进方向朝向所述目标位置;控制所述移动机器人在保持调整后的前进方向的状态下,向所述目标位置移动,以进入所述基站。
- 根据权利要求6所述的信息处理方法,其中,所述基站包括基站主体,所述基站主体的侧面设有入槽口,所述入槽口设置为供所述移动机器人进入所述基站主体的内部;在所述入槽口两侧分别设置有导向机构,所述标识区位于所述基站主体的内部;所述调整所述移动机器人的前进方向朝向所述目标位置的步骤包括:控制所述移动机器人移动至调整位置,所述调整位置和所述目标位置之间的连线从所述入槽口两侧的导向机构之间贯通所述入槽口;在所述调整位置处,调整所述移动机器人的前进方向朝向所述目标位置。
- 根据权利要求7所述的信息处理方法,其中,所述控制所述移动机器人在保持调整后的前进方向的状态下,向所述目标位置移动,以进入所述基站的步骤包括:控制所述移动机器人在保持调整后的前进方向的状态下,从所述调整位置处开始向所述目标位置移动,以从所述入槽口两侧的导向机构之间进入所述基站。
- 根据权利要求1所述的信息处理方法,其中,所述探测传感器为激光雷达,所述探测数据包括角度、距离值和光强,所述角度为障碍物相对于所述激光雷达的角度,所述 距离值为所述障碍物和所述激光雷达之间的距离值,所述光强为所述障碍物反射的激光的光强。
- 根据权利要求9所述的信息处理方法,其中,所述探测数据为激光雷达在其周围360度范围内进行一次采样得到的数据;所述通过所述移动机器人的探测传感器探测环境,以得到探测数据的步骤包括:激光雷达在采样点处记录探测数据,激光雷达的采样点为激光雷达上的环绕激光雷达设定的点,采样点和探测数据中的角度对应,通过一采样点的角度可确定出该采样点记录的具体探测数据的角度。
- 根据权利要求9所述的信息处理方法,其中,所述标识区为激光信号反射区域,所述激光信号反射区域包括强反光区和弱反光区,所述强反光区反射的激光强度大于所述弱反光区反射的激光强度,所述强反光区和所述弱反光区的相对位置关系符合预设位置关系。
- 根据权利要求11所述的信息处理方法,其中,所述从所述探测数据中识别属于标识区的目标探测数据的步骤包括:从所述探测数据中,根据光强位置识别属于所述激光信号反射区域的目标探测数据,所述目标探测数据的强光强和弱光强的相对位置关系符合所述预设位置关系;其中,所述预设位置关系为激光信号反射区域的强反光区和弱反光区的位置关系。
- 根据权利要求12所述的信息处理方法,其中,所述根据所述目标探测数据确定所述标识区上的目标位置的步骤包括:根据所述目标探测数据的角度和距离值,确定所述激光信号反射区域上的目标位置。
- 根据权利要求12所述的信息处理方法,其中,所述从所述探测数据中,根据光强位置识别属于所述激光信号反射区域的目标探测数据的步骤包括:从所述探测数据中,根据光强位置识别出强光强和弱光强的相对位置关系符合所述预设位置关系的初始探测数据;从所述初始探测数据中,根据光强确定出探测强反光区的探测数据和探测弱反光区的探测数据,所述探测强反光区的探测数据的光强大于预设光强阈值,所述探测弱反光区的探测数据的光强小于或等于所述预设光强阈值;根据所述探测强反光区的探测数据的角度和距离值,计算出所述探测强反光区的长度;根据所述探测弱反光区的探测数据的角度和距离值,计算出所述探测弱反光区的长度;计算所述探测强反光区的长度和所述探测弱反光区的长度的比值,得到目标长度比值;当所述目标长度比值等于预设长度比值时,将所述初始探测数据确定为属于所述激光信号反射区域的目标探测数据。
- 根据权利要求12所述的信息处理方法,其中,所述从所述探测数据中,根据光强位置识别属于所述激光信号反射区域的目标探测数据的步骤包括:从所述探测数据中,识别出所述基站的轮廓范围内的探测数据;从所述基站的轮廓范围内的探测数据中,根据光强位置识别属于所述激光信号反射区域的目标探测数据;其中,所述激光信号反射区域设置在所述基站的轮廓范围内。
- 一种信息处理装置,设置于移动机器人上,所述移动机器人设有与之配合使用的基站,其中,所述信息处理装置包括:探测单元,设置为通过移动机器人的探测传感器探测环境,以得到探测数据;识别单元,设置为从所述探测数据中识别属于标识区的目标探测数据,所述标识区为设置在基站上设置为标识的区域;确定单元,设置为根据所述目标探测数据确定所述标识区上的目标位置;处理单元,设置为控制所述移动机器人向所述目标位置移动,以进入所述基站。
- 根据权利要求16所述的信息处理装置,其中,所述处理单元还设置为:根据所述目标位置设定移动路线,所述移动路线延伸至所述目标位置;控制所述移动机器人沿所述移动路线移动,以进入所述基站。
- 根据权利要求17所述的信息处理装置,其中,所述基站包括基站主体,所述基站主体的侧面设有入槽口,所述入槽口设置为供所述移动机器人进入所述基站主体的内部;在所述入槽口两侧分别设置有导向机构,所述标识区位于所述基站主体的内部,所述移动路线为直线,所述移动路线贯通所述入槽口且位于所述入槽口两侧的导向机构之间;所述处理单元还设置为:控制所述移动机器人沿所述移动路线移动,以从所述入槽口两侧的导向机构之间进入所述基站。
- 一种信息处理设备,其中,所述信息处理设备包括:存储器、处理器及存储在所述存储器上并可在所述处理器上运行的信息处理程序,所述信息处理程序被所述处理器执行时实现如下步骤:通过所述移动机器人的探测传感器探测环境,以得到探测数据;从所述探测数据中识别属于标识区的目标探测数据,所述标识区为设置在基站上设置为标识的区域;根据所述目标探测数据确定所述标识区上的目标位置;控制所述移动机器人向所述目标位置移动,以进入所述基站。
- 一种计算机可读存储介质,其中,所述计算机可读存储介质上存储有信息处理程序,所述信息处理程序被处理器执行时实现如下步骤:通过所述移动机器人的探测传感器探测环境,以得到探测数据;从所述探测数据中识别属于标识区的目标探测数据,所述标识区为设置在基站上设置为标识的区域;根据所述目标探测数据确定所述标识区上的目标位置;控制所述移动机器人向所述目标位置移动,以进入所述基站。
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