WO2022213749A1

WO2022213749A1 - Method and apparatus for controlling movement, cleaning robot, and storage medium

Info

Publication number: WO2022213749A1
Application number: PCT/CN2022/079029
Authority: WO
Inventors: 苟建松; 李松; 周新伟
Original assignee: 美智纵横科技有限责任公司
Priority date: 2021-04-09
Filing date: 2022-03-03
Publication date: 2022-10-13
Also published as: CN115191884A

Abstract

The present application discloses a method and apparatus for controlling movement, a cleaning robot, and a storage medium. The method comprises: acquiring scan data of a lidar of a cleaning robot as well as image data collected by an image collection unit of the cleaning robot; determining, on the basis of the scan data, a first location relative to the cleaning robot in an identification area on a base station; and determining, on the basis of the image data, a second location relative to the cleaning robot in the identification area, the identification area containing a reflective material; and on the basis of the first location and the second location, controlling the cleaning robot to move to the base station, so that the cleaning robot returns to the position of the base station.

Description

Movement control method, device, cleaning robot and storage medium

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based on the Chinese patent application with the application number of 202110384482.5 and the filing date of April 9, 2021, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is incorporated herein by reference.

technical field

The present application relates to the field of computer technology, and in particular, to a movement control method, a device, a cleaning robot, and a storage medium.

Background technique

With the development of science and technology, some mobile robots need to automatically return to the base station, such as cleaning robots such as sweepers and moppers. Therefore, how to enable the cleaning robot to detect the base station and automatically return to the base station has become an urgent problem to be solved.

SUMMARY OF THE INVENTION

To solve related technical problems, embodiments of the present application provide a movement control method, device, cleaning robot, and storage medium.

The technical solutions of the embodiments of the present application are implemented as follows:

The embodiment of the present application provides a movement control method, including:

acquiring the scanning data of the laser radar of the cleaning robot and the image data collected by the image acquisition unit of the cleaning robot;

Based on the scan data, a first position of the identification area on the base station relative to the cleaning robot is determined; and based on the image data, a second position of the identification area relative to the cleaning robot is determined; the identification area is contains reflective material;

Based on the first position and the second position, the cleaning robot is controlled to move toward the base station, so that the cleaning robot returns to the base station position.

In the above solution, the scanning data includes the reflective intensity information of multiple scanning points; the identification area includes at least two kinds of reflective materials with different reflective intensities; and the identification area on the base station is determined based on the scanning data relative to all the reflective materials. Describe the first position of the cleaning robot, including:

Based on the reflective intensity information of the plurality of scanning points, a plurality of first target scanning points are determined from the plurality of scanning points; the reflective intensity of each first target scanning point and the reflective intensity of its own next scanning point are combined The difference is greater than or equal to the first threshold;

The first location is determined based on the determined plurality of first target scan points.

In the above solution, the scan data further includes distance information between a plurality of scanning points and the cleaning robot; at least two reflective materials in the marking area are not located on the same plane; the plurality of first target scanning points determined based on , determining the first position, including:

determining a third position of the identification area relative to the cleaning robot based on the plurality of first target scanning points;

Based on the distance information between the plurality of scanning points and the cleaning robot, a plurality of second target scanning points are determined from the plurality of scanning points; the distance between each second target scanning point and the cleaning robot and its own distance The difference between the distance between the next scanning point and the cleaning robot is greater than or equal to the second threshold, and less than or equal to the third threshold;

determining a fourth position of the identification area relative to the cleaning robot based on the plurality of second target scanning points;

Using the third position and the fourth position, the first position is determined.

In the above solution, determining the second position of the identification area relative to the cleaning robot based on the image data includes:

The second position is determined based on the image data and in combination with preset appearance feature data of the identification area.

In the above solution, the controlling the cleaning robot to move to the base station based on the first position and the second position includes:

Based on the first position and the second position, combined with a preset compensation function, determine a fifth position of the base station relative to the cleaning robot;

Using the fifth position to control the cleaning robot to move toward the base station; wherein,

The compensation function is generated by using the relative positional relationship between the geometric center of the identification area and the geometric center of the base station.

In the above solution, when controlling the cleaning robot to move to the base station, the method further includes:

Periodically acquire the scanning data of the lidar and the image data collected by the image acquisition unit;

updating the first position based on the acquired scan data; and updating the second position based on the acquired image data;

Based on the updated first position and the second position, the cleaning robot is controlled to move toward the base station.

In the above scheme, the method also includes:

After determining that the cleaning robot is successfully connected with the base station, detect whether the cleaning robot is in a charging state;

When it is detected that the cleaning robot is not in the charging state, it is determined that the base station is faulty; and fault information is sent; the fault information is used to prompt that the base station is faulty.

The embodiment of the present application also provides a mobile control device, including:

an acquisition unit, configured to acquire scanning data of the laser radar of the cleaning robot and image data collected by the image acquisition unit of the cleaning robot;

The first processing unit is configured to determine the first position of the identification area on the base station relative to the cleaning robot based on the scan data; and determine the first position of the identification area relative to the cleaning robot based on the image data. two positions; the marking area contains reflective material;

The second processing unit is configured to control the cleaning robot to move toward the base station based on the first position and the second position, so that the cleaning robot returns to the base station position.

Embodiments of the present application also provide a cleaning robot, comprising: a processor and a memory configured to store a computer program that can be executed on the processor,

Wherein, the processor is configured to execute the steps of any of the above methods when running the computer program.

Embodiments of the present application further provide a storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of any of the foregoing methods.

The movement control method, device, cleaning robot, and storage medium provided by the embodiments of the present application acquire scanning data of the laser radar of the cleaning robot and image data collected by the image acquisition unit of the cleaning robot; the first position of the identification area relative to the cleaning robot; and based on the image data, determine the second position of the identification area relative to the cleaning robot; the identification area contains reflective material; based on the first position position and the second position, control the cleaning robot to move toward the base station, so that the cleaning robot returns to the base station position. The solution of the embodiment of the present application is based on the scanning data of the laser radar of the cleaning robot and the image data collected by the image acquisition unit, determines the position of the identification area containing the reflective material on the base station relative to the cleaning robot, and controls the cleaning robot based on the determined position. The base station moves; in this way, the cleaning robot can detect the base station and automatically return to the base station position when it needs to return to the base station position, so as to improve the user experience; at the same time, the process of the cleaning robot returning to the base station position automatically does not require the guidance of the base station. In other words, there is no need to install a signal emitting sensor on the base station, so that the production cost of the base station for the cleaning robot can be reduced.

Description of drawings

1 is a schematic flowchart of a movement control method according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of an identification area according to an embodiment of the present application;

FIG. 3 is a schematic diagram of the variation of the reflected light intensity of the scanning point according to the embodiment of the present application;

FIG. 4 is another schematic structural diagram of the identification area according to the embodiment of the present application;

5 is a schematic structural diagram of a mobile control device according to an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a cleaning robot according to an embodiment of the present application.

Detailed ways

The present application will be further described in detail below with reference to the accompanying drawings and embodiments.

In order to enable the cleaning robot to detect the base station and automatically return to the base station location, it can be considered to set product identifiers such as barcodes and QR codes on the base station. position and automatically move to the base station. However, although product identifications such as barcodes and QR codes can contain obvious appearance features and rich product information, they are usually easy to identify and have a very low false detection rate. Limited by the capability and measurement range, the implementation of the above scheme is relatively difficult.

In practical application, it can also be considered that the cleaning robot can detect the position of the base station relative to itself based on the geometric characteristics of the base station (ie the shape of the base station). The scanning data of the scanning data determines the position of the base station relative to itself. When a straight line can be determined based on the obtained scanning data, the cleaning robot can determine a plane, and when an arc can be determined based on the obtained scanning data, the cleaning robot can determine a curved surface. However, since the cleaning robot may be in a relatively complex environment, the accuracy of detecting the position of the base station relative to itself using the above solution may be low.

In practical applications, it can also be considered to install infrared sensors on the cleaning robot and the base station respectively, and guide the cleaning robot to dock with the base station through the interaction of infrared signals between the cleaning robot and the base station, that is, guide the cleaning robot to return to the base station. However, it is difficult to guarantee the consistency, stability and consistency of the infrared sensors during the production process and during the installation process; moreover, during the use process, the infrared signal is prone to abnormal situations such as interference and reflection, and at the same time, the device is damaged. Higher risk.

Based on this, in various embodiments of the present application, a laser radar and an image acquisition unit are installed in the cleaning robot, and based on the scanning data of the laser radar and the image data collected by the image acquisition unit, it is determined that the identification area containing the reflective material on the base station is relatively locate the cleaning robot, and control the cleaning robot to move to the base station based on the determined position; in this way, the cleaning robot can detect the base station and automatically return to the base station position when it needs to return to the base station position, thereby improving user experience; at the same time, The process of automatically returning the cleaning robot to the position of the base station does not require the guidance of the base station, in other words, there is no need to install a signal transmitting sensor on the base station, thereby reducing the production cost of the base station for the cleaning robot.

An embodiment of the present application provides a mobile control method, as shown in FIG. 1 , the method includes:

Step 101 : acquiring the scanning data of the laser radar of the cleaning robot and the image data collected by the image acquisition unit of the cleaning robot;

Step 102: Based on the scan data, determine the first position of the identification area on the base station relative to the cleaning robot; and determine the second position of the identification area relative to the cleaning robot based on the image data;

Here, the marking area includes a reflective material;

Step 103: Based on the first position and the second position, control the cleaning robot to move toward the base station, so that the cleaning robot returns to the base station position.

Here, after the cleaning robot returns to the location of the base station, the base station may perform maintenance on the cleaning robot, which may specifically include at least one of the following:

charging the cleaning robot;

Perform fault detection on the cleaning robot;

Perform fault repair on the cleaning robot;

cleaning the cleaning robot;

Replace specified parts for the cleaning robot.

Of course, in practical application, the manner of maintaining the cleaning robot may also be other manners, which are not limited in this embodiment of the present application.

In practical application, the cleaning robot may be a sweeper, a mop, or the like.

In addition, it should be noted that in various embodiments of the present application, the position can be understood as a coordinate in the lidar coordinate system, which is expressed as a two-dimensional space pose (x, y, theta); of course, it can also be other The coordinates of the map set in the cleaning robot, the coordinates of the map generated by the cleaning robot, and other information that can represent the location, are not limited in this embodiment of the present application.

In step 101, in practical application, the laser radar may be a single-line laser radar, and the image acquisition unit may be a camera. Of course, other types of lidars (eg, multi-line lidars) and image acquisition units (eg, three-dimensional (3D) cameras) may be set according to requirements, which are not limited in this embodiment of the present application.

In practical application, the cleaning robot can scan the environment in 360 degrees through the lidar to obtain the scan data; and can control the image acquisition unit to collect a panoramic view of the environment in which it is located when it controls its own rotation. image to obtain the image data.

In practical applications, the scan data can also be acquired first, and after the first position is determined based on the scan data, the cleaning robot is controlled to adjust the pose based on the first position, so that the cleaning robot can pass the The image acquisition unit acquires the image data including the image information of the base station, acquires the image data, and determines the second position based on the image data.

In step 102, in practical application, the structure of the identification area and the type of reflective material contained may be based on the appearance and material of the base station, the application scenario of the cleaning robot, the laser radar and image acquisition of the cleaning robot The characteristics of the unit (ie type) and other requirements are set. For example, in order to improve the accuracy of the determined first position, in the case that the casing of the base station contains a first reflective material, a second reflective material may be provided at intervals in the marking area. Here, the second reflective material The reflective intensity of the material is higher than the reflective intensity of the first reflective material; in the case that the shell of the base station contains the second reflective material, the first reflective material may be arranged at intervals in the identification area; In the case where the casing of the base station contains a third reflective material, the first reflective material and the second reflective material may be arranged at intervals in the marking area, where the reflective intensity of the third reflective material is higher than that of the The first reflective material is lower than the second reflective material. For another example, in the case where the cleaning robot is a mopping machine, a waterproof reflective material needs to be provided in the marking area.

In practical application, the shape and size of the reflective material can also be set according to the size of the base station, the characteristics (ie types) of the laser radar and the image acquisition unit of the cleaning robot and other requirements. Exemplarily, as shown in FIG. 2 , squares of the first reflective material and the second reflective material may be arranged at intervals in the marking area, and the widths of each square piece of reflective material may be the same or different.

Based on this, in an embodiment, the scan data may include reflective intensity information of multiple scanning points; the identification area may include at least two reflective materials with different reflective intensities;

Correspondingly, the determining, based on the scan data, the first position of the identification area on the base station relative to the cleaning robot may include:

Here, the scanning points refer to all the points scanned by the lidar in the environment where the cleaning robot is located, in other words, the scanning points refer to objects in the environment where the cleaning robot is located A point on a surface that reflects laser light.

In practical application, the difference between the reflective intensity of each first target scanning point and the reflective intensity of its next scanning point is greater than or equal to the first threshold, which can be understood as: the difference between the at least two reflective materials included in the marking area. The reflected light intensity difference is greater than or equal to the first threshold. In other words, the first target scanning point can be understood as a scanning point on the boundary of each reflective material in the marking area.

In practical application, the first threshold can be set according to requirements.

In practical application, a preset pattern matching algorithm can be used to detect the changing edge of the reflective intensity of each scanning point in the scanning data from strong to weak and the changing edge from weak to strong, that is, to obtain the plurality of first target scan point. Exemplarily, as shown in FIG. 3 , the horizontal axis may represent the index of the scanning point, and the vertical axis may represent the reflective intensity of the scanning point. In FIG. 3 , four changing edges of the reflective intensity can be determined, namely, four first target scan point.

In practical applications, after determining a plurality of first target scanning points, the position of each first target scanning point relative to the cleaning robot can be determined, and then the position of each first target scanning point relative to the cleaning robot can be determined. , to determine the first position.

In practical application, in order to further improve the accuracy of the determined first position, at least two kinds of reflective materials with different reflective intensities contained in the identification area can also be arranged on different planes, in other words, at the base station. The at least two reflective materials are staggered in the horizontal depth direction. Exemplarily, as shown in FIG. 4 , the first reflective material and the second reflective material in squares may be arranged at intervals in the marking area. It can be seen from the front view of the marking area that each square The width of the reflective material may be the same or different; it can be seen from the top view of the marking area that the first reflective material and the second reflective material are not on the same plane. At this time, in the scan data, the distance between the scanning point corresponding to the second reflective material and the cleaning robot is greater than the distance between the scanning point corresponding to the first reflective material and the cleaning robot.

Based on this, in an embodiment, the scan data may further include distance information between a plurality of scan points and the cleaning robot; at least two reflective materials in the identification area are not located on the same plane;

The determining the first position based on the determined multiple first target scanning points may include:

In practical application, if it is determined according to the scanning data that at least two reflective materials in the marking area are located on the same plane, that is, it is determined that the distance between each first target scanning point and the cleaning robot is the same, the A first target scan point determines the first position. If it is determined according to the scanning data that the at least two reflective materials in the marking area are not located on the same plane, that is, it is determined that the distance between each first target scanning point and the cleaning robot is different, then it is necessary to measure the plurality of first targets. Accuracy verification is performed on the scanning points, that is, a plurality of second target scanning points are determined.

Here, the second target scanning point can also be understood as a scanning point on the boundary of each reflective material in the marking area. In the case of accurate calculation, the plurality of first target scanning points and the plurality of first target scanning points The two target scanning points are the same. However, in the case where the plurality of first target scanning points and the plurality of second target scanning points are not identical, it indicates that there is an error in the calculation, therefore, it is necessary to combine the plurality of first target scanning points and the plurality of target scanning points. a second target scan point to determine the first position.

In practical application, the difference between the distance between each second target scanning point and the cleaning robot and the distance between the next scanning point and the cleaning robot is greater than or equal to the second threshold, and is less than or equal to the third threshold, which can be It is understood that the distance difference between the at least two reflective materials included in the marking area and the cleaning robot is greater than or equal to the second threshold and less than or equal to the third threshold.

In practical application, the second threshold and the third threshold can be set according to requirements.

In practical application, in the process of determining the first position in combination with the plurality of first target scanning points and the plurality of second target scanning points, relative to the cleaning The position of the robot is determined to determine the third position; then based on the position of each second target scanning point relative to the cleaning robot, the fourth position is determined; finally, using the third position and the fourth position, The first position is determined in combination with a pre-trained deep learning model, a pre-set filtering algorithm, averaging, and the like.

In practical applications, in order to further improve the accuracy of the determined first position, after the third position and the fourth position are determined, the geometric features of the identification area may also be extracted based on the scan data, such as width information; then determine the sixth position of the identification area relative to the cleaning robot based on the geometric features of the identification area, and use the third position, the fourth position and the sixth position, combined with pre-training A good deep learning model, a preset filtering algorithm, averaging, etc. are used to determine the first position.

In practical application, the appearance feature data of the identified area may be preset in the cleaning robot, and the second position may be determined based on the appearance feature data.

Based on this, in an embodiment, the determining the second position of the identification area relative to the cleaning robot based on the image data may include:

In practical application, a deep learning model can be trained by using the image data of the marked area (which may include data such as the shape and color of each reflective material), and the appearance feature data of the marked area can be obtained based on the deep learning model. Of course, other methods may also be used to determine the appearance feature data of the identification area according to requirements, which is not limited in this embodiment of the present application.

In practical application, the second position may be determined based on the image data and the preset appearance feature data of the identification area by using a pre-trained deep learning model, a preset feature matching algorithm, or the like.

In step 103, in practical application, the location where the identification area is set at the base station (that is, the geometric center of the identification area) may correspond to the geometric center of the base station, in other words, the identification area may Based on a central axis of the casing of the base station, the base station is centered and symmetrically arranged. At this time, after the first position and the second position are determined, the first position and the second position can be directly used, combined with a pre-trained deep learning model, a preset filtering algorithm, and an average and so on, determine the fifth position of the base station (that is, the geometric center of the base station) relative to the cleaning robot, and use the fifth position to control the cleaning robot to move toward the base station; in other words, due to The identification area is centered and symmetrical based on a central axis of the shell of the base station, and the first position and the second position can be directly used to control the cleaning robot to precisely dock with the base station, that is, to control the cleaning The robot returns exactly to the base station location.

In practical application, the identification area may not be centrally and symmetrically arranged based on a central axis of the casing of the base station, but may be arranged at other positions that can be scanned by the lidar and do not correspond to the geometric center of the base station. (For example, it is set asymmetrically based on a central axis of the casing of the base station). At this time, when controlling the cleaning robot to move to the base station, it is necessary to compensate the geometric center of the identification area relative to the geometric center of the base station. Offset of the center.

Based on this, in an embodiment, the controlling the cleaning robot to move to the base station based on the first position and the second position may include:

Based on the first position and the second position, combined with a preset compensation function, determine the fifth position of the base station relative to the cleaning robot;

In practical application, in order to improve the accuracy of docking between the cleaning robot and the base station, during the movement of the cleaning robot to the base station, the position of the base station relative to itself can be detected in real time, so that the base station The position relative to itself is always updated and converged to a more stable result, so as to control the cleaning robot to dock with the base station more accurately.

Based on this, in an embodiment, when controlling the cleaning robot to move toward the base station, the method may further include:

In practical application, the period for acquiring the scanning data of the lidar and the image data collected by the image acquisition unit may be set according to requirements, for example, 100 milliseconds (mm).

Specifically, in practical application, when the identification area is centered and symmetrical based on a central axis of the shell of the base station, the cleaning robot is controlled to the base station based on the updated first position and the second position. The movement may include: using the updated first position and the second position, combined with a pre-trained deep learning model, a preset filtering algorithm, averaging, etc., to determine the updated fifth position, and use the updated fifth position. The fifth position controls the cleaning robot to move toward the base station. When the identification area is not centrally and symmetrically set based on a central axis of the casing of the base station, the controlling the cleaning robot to move to the base station based on the updated first position and the second position may include: based on the updated first position and the second position The updated first position and the second position are combined with a preset compensation function to determine an updated fifth position, and use the updated fifth position to control the cleaning robot to move toward the base station.

In practical application, after the fifth position is determined, the cleaning robot may determine a moving path by using a preset path planning algorithm, and move to the base station based on the determined moving path.

In practical application, an obstacle avoidance algorithm can be preset based on the shell shape of the base station (such as a base station with a U-shaped shell), and the cleaning robot can be controlled to move to the base station based on the obstacle avoidance algorithm, so that the cleaning robot can move towards the base station based on the obstacle avoidance algorithm. The robot can fine-tune the docking direction with the base station left and right to avoid colliding with the edge of the base station and causing damage or failure of the base station casing.

In practical application, the base station may have faults such as loose sockets, and the cleaning robot cannot be maintained. Whether the base station is faulty.

Based on this, in an embodiment, the method may further include:

In practical application, the method for determining the successful docking of the cleaning robot with the base station can be set according to requirements. For example, sensors such as laser radar and image acquisition unit are used to determine the successful docking between the cleaning robot and the base station. Not limited.

In practical application, the method of detecting whether the cleaning robot is in a charging state can also be set according to requirements, such as detecting whether the battery of the cleaning robot has an input current, which is not limited in this embodiment of the present application.

In practical application, the fault information can be sent to the user terminal to prompt the user that the base station has a fault; of course, the fault information can also be sent to the indicator light control unit of the cleaning robot, and prompted in the form of an indicator light. The base station described by the user is faulty. The specific device for receiving the fault information may be set according to requirements, which is not limited in this embodiment of the present application.

In practical application, other signal emission sensors, such as infrared sensors, may also be installed on the cleaning robot and the base station respectively, and the cleaning robot can be controlled to return to the base station position in combination with other installed signal emission sensors. Of course, after the cleaning robot successfully docks with the base station based on the scan data and the image data, if the cleaning robot determines that the entire process of returning to the base station has not received the signal sent by the base station (for example, Infrared signal), it can be determined that itself and/or other signal emitting sensors (such as infrared sensors) on the base station are faulty, and can send fault information to prompt itself and/or other signal emitting sensors on the base station. Fault.

The movement control method provided in the embodiment of the present application acquires the scanning data of the laser radar of the cleaning robot and the image data collected by the image acquisition unit of the cleaning robot; a first position of the robot; and based on the image data, determine a second position of the identification area relative to the cleaning robot; the identification area contains a reflective material; based on the first position and the second position, The cleaning robot is controlled to move toward the base station, so that the cleaning robot returns to the position of the base station. The solution of the embodiment of the present application is based on the scanning data of the laser radar of the cleaning robot and the image data collected by the image acquisition unit, determines the position of the identification area containing the reflective material on the base station relative to the cleaning robot, and controls the cleaning robot based on the determined position. The base station moves; in this way, the cleaning robot can detect the base station and automatically return to the base station position when it needs to return to the base station position, so as to improve the user experience; at the same time, the process of the cleaning robot returning to the base station position automatically does not require the guidance of the base station. In other words, it is not necessary to install a signal emitting sensor on the base station, only to set a marking area containing a low-cost reflective material on the base station, so that the cleaning robot can automatically return to the position of the base station. Therefore, the production cost of the base station of the cleaning robot can be reduced. In addition, since the reflective material is not easily damaged, the damage rate of the marking area can be reduced, thereby prolonging the service life of the base station of the cleaning robot and further improving the user experience.

In addition, the movement control method provided by the embodiment of the present application can enable the cleaning robot to identify different types of base stations (different types of base stations can be set with different identification areas). At the same time, the cleaning robot moves to the base station based on the preset path planning algorithm and obstacle avoidance algorithm, and can dock with the base station accurately, smoothly, and without collision (ie, return to the base station position successfully). Moreover, by judging its own state, the cleaning robot can detect whether it is receiving the maintenance of the base station, so as to determine whether the base station is faulty.

In practical applications, some cleaning robots themselves are equipped with laser radar and image acquisition units, such as sweepers. The mobile control method provided by the embodiment of the present application does not require modification of the hardware structure of the cleaning robot, which saves the cost of hardware modification. The control can be realized, the solution is simple to realize, and the scalability is extremely strong.

In order to realize the method of the embodiment of the present application, the embodiment of the present application further provides a movement control device, which is arranged on the cleaning robot. As shown in FIG. 5 , the device includes:

an acquisition unit 501, configured to acquire scanning data of the laser radar of the cleaning robot and image data collected by an image acquisition unit of the cleaning robot;

The first processing unit 502 is configured to, based on the scan data, determine a first position of the identification area on the base station relative to the cleaning robot; and based on the image data, determine the position of the identification area relative to the cleaning robot. the second position; the marking area includes a reflective material;

The second processing unit 503 is configured to control the cleaning robot to move toward the base station based on the first position and the second position, so that the cleaning robot returns to the base station position.

Wherein, in one embodiment, the scanning data includes reflective intensity information of multiple scanning points; the marking area includes at least two reflective materials with different reflective intensities; the first processing unit 502 is configured to:

In one embodiment, the scan data further includes distance information between a plurality of scan points and the cleaning robot; at least two reflective materials in the marking area are not located on the same plane; the first processing unit 502 is configured to: :

In an embodiment, the first processing unit 502 is configured to determine the second position based on the image data and in combination with preset appearance feature data of the identification area.

In one embodiment, the second processing unit 503 is configured as:

In an embodiment, when the second processing unit 503 controls the cleaning robot to move to the base station, the acquisition unit 501 is configured to periodically acquire the scanning data of the lidar and the image acquisition unit. collected image data;

The first processing unit 502 is configured to update the first position based on the acquired scan data; and update the second position based on the acquired image data;

The second processing unit 503 is configured to control the cleaning robot to move toward the base station based on the updated first position and the second position.

In one embodiment, the apparatus further includes:

a detection unit, configured to detect whether the cleaning robot is in a charging state after determining that the cleaning robot is successfully connected to the base station;

A sending unit, configured to determine that the base station is faulty when the detection unit detects that the cleaning robot is not in a charging state; and send fault information; the fault information is used to prompt that the base station is faulty.

In practical application, the acquiring unit 501, the first processing unit 502, the second processing unit 503 and the detection unit may be implemented by a processor in the mobile control device; the sending unit may be implemented by a processor in the mobile control device. The processor is implemented in conjunction with a communication interface.

It should be noted that: when the movement control device provided in the above embodiment controls the movement of the cleaning robot, only the division of the above program modules is used as an example for illustration. In practical application, the above processing can be allocated to different program modules as required. , that is, dividing the internal structure of the device into different program modules to complete all or part of the above-described processing. In addition, the mobility control device and the mobility control method embodiments provided by the above embodiments belong to the same concept, and the specific implementation process thereof is detailed in the method embodiments, which will not be repeated here.

Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiment of the present application, the embodiment of the present application further provides a cleaning robot. As shown in FIG. 6 , the cleaning robot 600 includes:

A communication interface 601, capable of information interaction with other electronic devices;

The processor 602 is connected to the communication interface 601 to realize information interaction with other electronic devices, and is configured to execute the method provided by one or more of the above technical solutions when running a computer program;

The memory 603 stores computer programs that can run on the processor 602 .

Specifically, the processor 602 is configured as:

acquiring the scanning data of the laser radar of the cleaning robot 600 and the image data collected by the image acquisition unit of the cleaning robot 600;

Based on the scan data, a first position of the identification area on the base station relative to the cleaning robot 600 is determined; and based on the image data, a second position of the identification area relative to the cleaning robot 600 is determined; the The sign area contains reflective material;

Based on the first position and the second position, the cleaning robot 600 is controlled to move toward the base station, so that the cleaning robot 600 returns to the base station position.

Wherein, in one embodiment, the scan data includes reflective intensity information of multiple scanning points; the identification area includes at least two reflective materials with different reflective intensities; the processor 602 is configured to:

In one embodiment, the scan data further includes distance information between a plurality of scan points and the cleaning robot 600; at least two reflective materials in the marking area are not located on the same plane; the processor 602 is configured to:

determining a third position of the identification area relative to the cleaning robot 600 based on the plurality of first target scanning points;

Based on the distance information between the plurality of scanning points and the cleaning robot 600, a plurality of second target scanning points are determined from the plurality of scanning points; the distance between each second target scanning point and the cleaning robot 600 sums The difference between the distance between its next scanning point and the cleaning robot 600 is greater than or equal to the second threshold, and less than or equal to the third threshold;

determining a fourth position of the identification area relative to the cleaning robot 600 based on the plurality of second target scanning points;

In an embodiment, the processor 602 is configured to determine the second position based on the image data and in combination with preset appearance feature data of the identification area.

In one embodiment, the processor 602 is configured to:

Based on the first position and the second position, combined with a preset compensation function, determine a fifth position of the base station relative to the cleaning robot 600;

Using the fifth position to control the cleaning robot 600 to move toward the base station; wherein,

In one embodiment, the processor 602 is configured to:

Based on the updated first and second positions, the cleaning robot 600 is controlled to move toward the base station.

In one embodiment, the processor 602 is configured to:

After determining that the cleaning robot 600 is successfully connected with the base station, detect whether the cleaning robot 600 is in a charging state;

When it is detected that the cleaning robot 600 is not in a charging state, it is determined that the base station is faulty; and fault information is sent through the communication interface 601; the fault information is used to prompt that the base station is faulty.

It should be noted that: the specific process for the processor 602 to perform the above operations can be found in the method embodiments, and details are not repeated here.

Of course, in practical application, the various components in the cleaning robot 600 are coupled together through the bus system 604 . It will be appreciated that the bus system 604 is used to implement connection communication between these components. In addition to the data bus, the bus system 604 also includes a power bus, a control bus and a status signal bus. However, for clarity of illustration, the various buses are labeled as bus system 604 in FIG. 6 .

The memory 603 in the embodiment of the present application is used to store various types of data to support the operation of the cleaning robot 600 . Examples of such data include: any computer program used to operate on cleaning robot 600 .

The methods disclosed in the above embodiments of the present application may be applied to the processor 602 or implemented by the processor 602 . The processor 602 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above-mentioned method may be completed by an integrated logic circuit of hardware in the processor 602 or an instruction in the form of software. The above-mentioned processor 602 may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. The processor 602 may implement or execute the methods, steps, and logical block diagrams disclosed in the embodiments of this application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, and the storage medium is located in the memory 603, and the processor 602 reads the information in the memory 603, and completes the steps of the foregoing method in combination with its hardware.

In an exemplary embodiment, the cleaning robot 600 may be implemented by one or more Application Specific Integrated Circuit (ASIC, Application Specific Integrated Circuit), DSP, Programmable Logic Device (PLD, Programmable Logic Device), Complex Programmable Logic Device (CPLD) , Complex Programmable Logic Device), Field Programmable Gate Array (FPGA, Field-Programmable Gate Array), general-purpose processor, controller, microcontroller (MCU, Micro Controller Unit), microprocessor (Microprocessor), or other electronic Element implementation for performing the aforementioned method.

It can be understood that the memory 603 in this embodiment of the present application may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM, Read Only Memory), a programmable read-only memory (PROM, Programmable Read-Only Memory), an erasable programmable read-only memory (EPROM, Erasable Programmable Read-only memory) Only Memory), Electrically Erasable Programmable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), Magnetic Random Access Memory (FRAM, ferromagnetic random access memory), Flash Memory (Flash Memory), Magnetic Surface Memory , CD-ROM, or CD-ROM (Compact Disc Read-Only Memory); magnetic surface memory can be disk memory or tape memory. Volatile memory may be Random Access Memory (RAM), which acts as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory Memory (DRAM, Dynamic Random Access Memory), Synchronous Dynamic Random Access Memory (SDRAM, Synchronous Dynamic Random Access Memory), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM, Double Data Rate Synchronous Dynamic Random Access Memory), Enhanced Type Synchronous Dynamic Random Access Memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), Synchronous Link Dynamic Random Access Memory (SLDRAM, SyncLink Dynamic Random Access Memory), Direct Memory Bus Random Access Memory (DRRAM, Direct Rambus Random Access Memory) ). The memories described in the embodiments of the present application are intended to include, but not be limited to, these and any other suitable types of memories.

In an exemplary embodiment, an embodiment of the present application further provides a storage medium, that is, a computer storage medium, specifically a computer-readable storage medium, for example, including a memory 603 for storing a computer program, and the above-mentioned computer program can be processed by the cleaning robot 600 The device 602 is executed to complete the steps of the aforementioned method. The computer-readable storage medium may be memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disk, or CD-ROM.

It should be noted that "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence.

In addition, the technical solutions described in the embodiments of the present application may be combined arbitrarily unless there is a conflict.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the protection scope of the present application.

Claims

A movement control method, comprising:

acquiring the scanning data of the laser radar of the cleaning robot and the image data collected by the image acquisition unit of the cleaning robot;

Based on the scan data, a first position of the identification area on the base station relative to the cleaning robot is determined; and based on the image data, a second position of the identification area relative to the cleaning robot is determined; the identification area is contains reflective material;

Based on the first position and the second position, the cleaning robot is controlled to move toward the base station, so that the cleaning robot returns to the base station position.
The method according to claim 1, wherein the scanning data includes reflective intensity information of a plurality of scanning points; the identification area includes at least two kinds of reflective materials with different reflective intensities; the base station is determined based on the scanning data The first position of the identification area on the cleaning robot relative to the cleaning robot includes:

Based on the reflective intensity information of the plurality of scanning points, a plurality of first target scanning points are determined from the plurality of scanning points; the reflective intensity of each first target scanning point and the reflective intensity of its own next scanning point are combined The difference is greater than or equal to the first threshold;

The first location is determined based on the determined plurality of first target scan points.
The method according to claim 2, wherein the scanning data further includes distance information between a plurality of scanning points and the cleaning robot; at least two reflective materials in the identification area are not located on the same plane; A plurality of first target scanning points to determine the first position, including:

determining a third position of the identification area relative to the cleaning robot based on the plurality of first target scanning points;

Based on the distance information between the plurality of scanning points and the cleaning robot, a plurality of second target scanning points are determined from the plurality of scanning points; the distance between each second target scanning point and the cleaning robot and its own distance The difference between the distance between the next scanning point and the cleaning robot is greater than or equal to the second threshold, and less than or equal to the third threshold;

determining a fourth position of the identification area relative to the cleaning robot based on the plurality of second target scanning points;

Using the third position and the fourth position, the first position is determined.
The method of claim 1, wherein the determining, based on the image data, the second position of the identified area relative to the cleaning robot comprises:

The second position is determined based on the image data and in combination with preset appearance feature data of the identification area.
The method according to any one of claims 1 to 4, wherein the controlling the cleaning robot to move to the base station based on the first position and the second position comprises:

Based on the first position and the second position, combined with a preset compensation function, determine a fifth position of the base station relative to the cleaning robot;

Using the fifth position to control the cleaning robot to move toward the base station; wherein,

The compensation function is generated by using the relative positional relationship between the geometric center of the identification area and the geometric center of the base station.
The method according to any one of claims 1 to 4, wherein when controlling the cleaning robot to move toward the base station, the method further comprises:

Periodically acquire the scanning data of the lidar and the image data collected by the image acquisition unit;

updating the first position based on the acquired scan data; and updating the second position based on the acquired image data;

Based on the updated first position and the second position, the cleaning robot is controlled to move toward the base station.
The method according to any one of claims 1 to 4, wherein the method further comprises:

After determining that the cleaning robot is successfully connected with the base station, detect whether the cleaning robot is in a charging state;

When it is detected that the cleaning robot is not in the charging state, it is determined that the base station is faulty; and fault information is sent; the fault information is used to prompt that the base station is faulty.
A mobile control device, comprising:

an acquisition unit, configured to acquire scanning data of the laser radar of the cleaning robot and image data collected by the image acquisition unit of the cleaning robot;

The first processing unit is configured to determine the first position of the identification area on the base station relative to the cleaning robot based on the scan data; and determine the first position of the identification area relative to the cleaning robot based on the image data. two positions; the marking area contains reflective material;

The second processing unit is configured to control the cleaning robot to move toward the base station based on the first position and the second position, so that the cleaning robot returns to the base station position.
A cleaning robot comprising: a processor and a memory configured to store a computer program executable on the processor,

Wherein, the processor is configured to execute the steps of the method of any one of claims 1 to 7 when running the computer program.
A storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of the method according to any one of claims 1 to 7.