WO2023160369A1 - 移动方向纠偏方法、移动方向纠偏方法、系统及自移动机器人 - Google Patents

移动方向纠偏方法、移动方向纠偏方法、系统及自移动机器人 Download PDF

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Publication number
WO2023160369A1
WO2023160369A1 PCT/CN2023/074698 CN2023074698W WO2023160369A1 WO 2023160369 A1 WO2023160369 A1 WO 2023160369A1 CN 2023074698 W CN2023074698 W CN 2023074698W WO 2023160369 A1 WO2023160369 A1 WO 2023160369A1
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WIPO (PCT)
Prior art keywords
map
main
target
boundary
self
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PCT/CN2023/074698
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English (en)
French (fr)
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WO2023160369A9 (zh
Inventor
曹蒙
张陆涵
王永涛
Original Assignee
追觅创新科技(苏州)有限公司
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Priority claimed from CN202210181580.3A external-priority patent/CN116700233A/zh
Priority claimed from CN202210181577.1A external-priority patent/CN116700232A/zh
Application filed by 追觅创新科技(苏州)有限公司 filed Critical 追觅创新科技(苏州)有限公司
Publication of WO2023160369A1 publication Critical patent/WO2023160369A1/zh
Publication of WO2023160369A9 publication Critical patent/WO2023160369A9/zh

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Classifications

    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the invention relates to the technical field of cleaning equipment, in particular to a method and system for correcting a moving direction and a self-moving robot.
  • self-moving robots such as washing machines and sweeping machines are more and more widely used, bringing great convenience to people's lives.
  • self-mobile robots such as sweepers generally move and work in the area to be cleaned according to a preset cleaning map during the cleaning process.
  • the moving direction of the self-mobile robot may not match the cleaning map, which will reduce the cleaning efficiency and affect the user experience.
  • the technical problem to be solved by the present invention is that when the self-mobile robot is working in the area to be cleaned, the moving direction of the self-mobile robot may not match the cleaning map, resulting in reduced cleaning efficiency and affecting user experience.
  • the present invention provides a method for correcting the direction of movement, which is applied to a self-moving robot.
  • the method includes:
  • the control adjusts the moving direction of the target and/or the main direction of the map, so that the moving direction of the target is consistent with the main direction of the map.
  • the acquiring the cleaning map of the area to be cleaned and its main direction of the map includes:
  • a preset algorithm is used to obtain the target boundary line of the clean map; wherein, the target boundary line is the longest boundary line among all the boundary lines of the clean map;
  • the extension direction of the target boundary line is the main direction of the map.
  • a preset algorithm to obtain the target boundary line of the cleaning map including:
  • a Hough transform algorithm is used to obtain the target boundary line of the clean map.
  • a preset algorithm to obtain the target boundary line of the cleaning map including:
  • the boundary laser points are fitted to form a plurality of boundary lines by the least square method
  • the obtaining the target boundary line according to the obtained plurality of boundary lines includes:
  • the obtained multiple boundary lines obtain the longest boundary line among the multiple boundary lines, and set the longest boundary line as the target boundary line.
  • the control adjusts the The moving direction of the target and/or the main direction of the map, so that the moving direction of the target is consistent with the main direction of the map, including:
  • control the self-mobile robot When it is detected that the matching situation does not meet the preset condition, control the self-mobile robot to rotate a preset angle to the main direction of the map to obtain a new target moving direction of the self-mobile robot;
  • the moving direction of the new target is controlled to be parallel to or coincident with the main map direction of the cleaning map, so that the main direction of the map is consistent with the moving direction of the new target.
  • controlling the moving direction of the new target to be parallel to or coincident with the main direction of the map of the cleaning map, so that the main direction of the map is consistent with the moving direction of the new target includes:
  • the target moving direction obtained from the mobile robot in the area to be cleaned includes:
  • An initial moving direction of the self-mobile robot in the area to be cleaned is acquired, and the initial moving direction is determined as the target moving direction.
  • the present invention also proposes a movement direction correction system, which is applied to self-moving robots, including:
  • a direction acquisition module configured to acquire a cleaning map of the area to be cleaned and its main direction of the map, and obtain the target moving direction of the mobile robot in the area to be cleaned;
  • a direction matching detection module configured to move according to the obtained main direction of the map and the target direction, judging the matching situation between the moving direction of the target and the main direction of the map;
  • a direction control module configured to control and adjust the moving direction of the target and/or the main direction of the map when it is detected that the matching situation does not meet the preset condition, so that the moving direction of the target remains consistent with the main direction of the map unanimous.
  • the present invention also proposes a self-moving robot, including:
  • a control processor is arranged on the robot body
  • control processor is used for:
  • the control adjusts the moving direction of the target and/or the main direction of the map, so that the moving direction of the target is consistent with the main direction of the map.
  • the present application also provides a map deviation correction method, system and self-mobile device to solve the problem in the traditional technology that the direction of the cleaning map obtained by the self-mobile device is uncertain, which is not conducive to the determination of the cleaning direction by the mobile device.
  • the present invention provides a map deviation correction method, which is applied to self-mobile devices, and the method includes:
  • the grid map is rotated so that the orientation of the grid map is consistent with the coordinate system of the self-mobile device.
  • the detecting the matching of the orientation of the grid map with the coordinate system of the self-mobile device includes:
  • the matching situation between the main boundary line and the coordinate system of the self-mobile device is acquired; wherein, the main boundary line is the boundary line in the main direction of the map.
  • the obtaining the main map direction of the grid map according to the obtained information of all the boundary lines includes:
  • the extension directions of most of the boundary lines with the same direction are the main map directions of the grid map.
  • the obtaining the matching situation between the main boundary line and the orientation of the coordinate system of the self-mobile device according to the obtained main direction of the map includes:
  • the orientation matching between the main boundary line and the coordinate system of the mobile device is acquired.
  • the acquisition of the orientation matching between the main boundary line and the coordinate system of the mobile device according to the obtained boundary laser detection points on each main boundary line includes:
  • the obtaining the variance value of all the boundary laser detection points on each of the main boundary lines, and detecting the orientation matching between the main boundary line and the coordinate system of the self-moving device includes:
  • the variance value is equal to or smaller than the preset value, it is determined that the extension direction of the main boundary line is consistent with the axis direction and orientation of the coordinate system of the mobile device.
  • the acquiring the deflection angle of the grid map when it is detected that there is an orientation deflection of the grid map relative to the coordinate system of the self-mobile device includes:
  • the method further includes:
  • the present invention also proposes a map deviation correction system, which is applied to self-mobile devices, including:
  • a map matching detection module configured to obtain a grid map of the area to be cleaned, and detect the orientation matching between the grid map and the coordinate system of the mobile device;
  • a deflection angle acquisition module used to detect that the grid map is relative to the self-moving device When there is azimuth deflection in the coordinate system of , obtain the deflection angle of the grid map;
  • the rotation correction module is configured to rotate the grid map according to the obtained deflection angle so that the orientation of the grid map is consistent with the coordinate system of the mobile device.
  • the present invention also proposes a self-mobile device, including:
  • a control processor is located on the device body
  • control processor is used for:
  • the grid map is rotated so that the orientation of the grid map is consistent with the coordinate system of the self-mobile device.
  • the moving direction correction method provided by the present invention can first obtain the map main direction of the cleaning map of the area to be cleaned and the target moving direction of the self-mobile robot in the area to be cleaned (that is, the initial direction of movement), and determine whether the main direction of the map matches the direction of movement of the target, that is, to detect whether the main direction of the map is consistent with the direction of movement of the target. If the main direction of the map is inconsistent with the moving direction of the target (that is, the preset condition is not met, and a deflection occurs), the moving direction of the target and/or the main direction of the map can be adjusted so that the moving direction of the target is consistent with the main direction of the map.
  • the self-mobile robot or/and the cleaning map can be corrected, so that the direction in which the robot initially walks is parallel or coincident with the main direction of the map, thereby Improve cleaning efficiency and user experience.
  • the map deviation correction method provided by the present invention can first obtain the grid map of the area to be cleaned when the self-mobile device cleans the area to be cleaned, and detect whether there is a deflection between the grid map and the coordinate system of the self-mobile device. If the grid map is deflected relative to the coordinate system of the self-mobile device, it will be unfavorable to determine the cleaning direction of the self-mobile device in the area to be cleaned.
  • the deflection angle of the grid map relative to the coordinate system of the mobile device can be obtained, and the grid map is rotated according to the deflection angle, so that the orientation of the grid map is consistent with that of the mobile device The orientation of the coordinate system is consistent. In this way, the direction of the grid map of the area to be cleaned can be determined, which facilitates the determination of the cleaning direction in the area to be cleaned by the mobile device.
  • Fig. 1 is a schematic flow chart of the steps of the method for correcting the moving direction according to the embodiment of the present invention
  • Fig. 2 is a schematic block diagram of the structure of the moving direction deviation correction system according to the embodiment of the present invention.
  • Fig. 3 is a schematic block diagram of the structure of the self-mobile robot described in the embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a three-dimensional structure of a self-mobile robot according to an embodiment of the present invention.
  • Fig. 5 is a schematic flow chart of the steps of the map deviation correction method according to the embodiment of the present invention.
  • Fig. 6 is a schematic block diagram of the structure of the map deviation correction system according to the embodiment of the present invention.
  • Fig. 7 is a schematic block diagram of the structure of the self-moving device according to the embodiment of the present invention.
  • Fig. 8 is a schematic perspective view of the three-dimensional structure of the self-moving device according to the embodiment of the present invention.
  • orientation words such as “upper, lower, top, bottom” are usually for the directions shown in the drawings, or for the parts themselves in the vertical, In terms of vertical or gravitational direction; similarly, for the convenience of understanding and description, “inner and outer” refer to the inner and outer relative to the outline of each component itself, but the above orientation words are not used to limit the present invention.
  • the present invention proposes a method, system and self-moving robot for correcting deviation in the moving direction.
  • the method and system for correcting the deviation of the moving direction proposed by the present invention can be applied not only to self-moving robots with deviation correcting functions, but also to other self-moving machines that need to correct the deviation of the moving direction.
  • the present invention is described by taking the application of the self-moving robot with deviation correction function such as a sweeper as an example.
  • This embodiment provides a method for correcting a moving direction, which is applied to a self-moving robot. As shown in Figure 1, the method includes:
  • the main direction of the map of the cleaning map of the area to be cleaned and the target movement direction of the self-mobile robot in the area to be cleaned (that is, the initial movement direction) can be obtained, and the main direction of the map can be judged Whether it matches the moving direction of the target, that is, check whether the main direction of the map is consistent with the moving direction of the target. If the main direction of the map is inconsistent with the moving direction of the target (that is, the preset condition is not met, and a deflection occurs), the moving direction of the target and/or the main direction of the map can be adjusted so that the moving direction of the target is consistent with the main direction of the map.
  • step S100 obtaining the cleaning map of the area to be cleaned and its main direction of the map may specifically include the following steps:
  • the obstacle information and environmental information of the area to be cleaned can be obtained in advance from the detection sensor set on the mobile robot, so as to obtain the cleaning map of the area to be cleaned.
  • the pre-acquired cleaning map can be invoked.
  • the target boundary line is the longest boundary line among all the boundary lines of the clean map
  • the boundary information of the cleaning map can be obtained. According to the obtained boundary information, all the boundary lines of the clean map can be obtained, and then the longest target boundary line can be obtained from all the boundary lines.
  • the target boundary line is the longest boundary line, when the extension direction of the target boundary line is the main direction of the map, the area to be cleaned is relatively large, and when the self-mobile robot moves and cleans in the main direction of the map,
  • the direct cleaning has a large coverage area, less turning during the cleaning process, and high cleaning efficiency.
  • step S120 according to the obtained clean map, a preset algorithm is used to obtain the target boundary line of the clean map, which may specifically include the following steps:
  • the edge points (located in the Cartesian coordinate system) in the binary image can be found, and the curve in the polar coordinate system can be obtained by Hough line transformation.
  • the straight line is detected by calculating the number of curves where each intersection point is located in the polar coordinate plane, and the boundary line can be detected.
  • the more curves that a certain point intersects the more points the boundary line represented by the intersection point has, that is, the longer the boundary line in the boundary image. In this way, the longest boundary line can be found from all the boundary lines, so as to obtain the target boundary line.
  • step S120 using a preset algorithm to obtain the target boundary line of the clean map may also include the following steps:
  • the grid map of the area to be cleaned can be obtained (the cleaning map is generally formed by the laser point cloud detected by the laser detection sensor set on the mobile robot).
  • the boundary laser point information (including the boundary laser point coordinates) at all boundary positions of the clean map can be obtained.
  • a plurality of boundary laser points can be selected at each boundary position, and the least square method is used to perform straight line fitting on these boundary laser points, so as to obtain a boundary line at the boundary position.
  • the fitted straight lines at all boundary positions of the clean map can be obtained, thereby obtaining multiple boundary lines.
  • obtaining the target boundary line according to the obtained multiple boundary lines may specifically include the following steps:
  • the obtained multiple boundary lines obtain the longest boundary line among the multiple boundary lines, and set the longest boundary line as the target boundary line.
  • the length of the boundary line can be obtained through the straight line function of each boundary line (obtained when the least square method is used to fit the straight line), and the coordinates of the first and last points (ie, the first and last two boundary laser points). In this way, the longest boundary line can be found from the plurality of boundary lines, so as to obtain the target boundary line.
  • step S100 the target movement obtained from the mobile robot in the area to be cleaned direction, which may include the following steps:
  • step S200 according to the obtained main direction of the map and the moving direction of the target, judging the matching between the moving direction of the target and the main direction of the map may specifically include the following steps:
  • the target moving direction of the self-mobile robot may be set as the X-axis direction or the Y-axis direction of the Cartesian coordinate system. That is, by judging whether the target boundary line is parallel or coincident with the X-axis or the Y-axis, it can be judged whether the moving direction of the target is consistent with the main direction of the map.
  • the moving direction of the target is consistent with the main direction of the map, that is, the moving direction of the target matches the main direction of the map.
  • the target moving direction is inconsistent with the main direction of the map, that is, the target moving direction does not match the main direction of the map .
  • step S300 when it is detected that the matching situation does not meet the preset condition, the control adjusts the moving direction of the target and/or the main direction of the map so that the moving direction of the target is consistent with the main direction of the map, which may include the following steps:
  • S320 Control the main direction of the new map to be parallel to or coincide with the moving direction of the target, so that the main direction of the new map is consistent with the moving direction of the target.
  • the main direction of the map of the cleaned map can be controlled and adjusted, that is, the orientation of the cleaned map can be rotated and adjusted, so that the new main direction of the cleaned map after rotation and adjustment is consistent with the self-moving
  • the target movement direction of the robot is parallel or coincident.
  • controlling and adjusting the moving direction of the target and/or the main direction of the map so that the moving direction of the target is consistent with the main direction of the map may also include the following steps:
  • the target moving direction is not parallel or coincident with the main direction of the map
  • it is possible to control and adjust the target moving direction of the self-mobile robot that is, to rotate and adjust the orientation of the self-mobile robot, so that the new target moving direction of the self-mobile robot after rotation adjustment Parallel or coincident with the main map direction of the clean map.
  • controlling the moving direction of the new target to be parallel to or coincident with the main map direction of the clean map, so that the main direction of the map is consistent with the moving direction of the new target may specifically include the following steps:
  • the target boundary line can be acquired again through the above-mentioned preset algorithm; it can also be marked after the target boundary line is obtained through the above-mentioned method, and the marked target boundary line can be directly obtained after the self-rotating mobile robot.
  • step S310 and step S320 can be implemented separately as a whole (that is, only rotate and adjust the cleaning map), and step S330 and step S330 can also be implemented separately as a whole (that is, only rotate and adjust the self-mobile robot. ), the steps S310 and S320 as a whole and the steps S330 and S330 as a whole can also be implemented simultaneously (ie Simultaneously make rotation adjustments for cleaning maps and self-mobile robots).
  • This embodiment provides a moving direction deviation correction system, which is applied to a self-moving robot.
  • the moving direction deviation correction system 100 may include:
  • the direction acquisition module 102 is used to obtain the cleaning map of the area to be cleaned and the main direction of the map thereof, and obtain the target moving direction of the mobile robot in the area to be cleaned;
  • the direction matching detection module 104 is connected in communication with the direction acquisition module 102, and is used for judging the matching situation between the target moving direction and the map main direction according to the obtained map main direction and the target moving direction;
  • the direction control module 106 is connected in communication with the direction matching detection module 104, and is used to control and adjust the target moving direction and/or the main direction of the map when it is detected that the matching situation does not meet the preset conditions, so that the moving direction of the target remains with the main direction of the map unanimous.
  • the direction acquisition module 102 when used to acquire the cleaning map of the area to be cleaned and its map main direction, it can be further used for:
  • a preset algorithm is used to obtain the target boundary line of the clean map; wherein, the target boundary line is the longest boundary line among all the boundary lines of the clean map;
  • the obtained target boundary line determine the extension direction of the target boundary line as the main direction of the map.
  • the direction obtaining module 102 when used to obtain the target boundary line of the clean map according to the obtained clean map by using a preset algorithm, it can be further used to:
  • the Hough transform algorithm is used to obtain the target boundary line of the clean map.
  • the direction obtaining module 102 when used to obtain the target boundary line of the clean map according to the obtained clean map by using a preset algorithm, it can also be further used for:
  • the boundary laser points are fitted to form multiple boundary lines by the least square method
  • the direction obtaining module 102 when used to obtain the target boundary line according to the obtained multiple boundary lines, it can be further used for:
  • the obtained multiple boundary lines obtain the longest boundary line among the multiple boundary lines, and set the longest boundary line as the target boundary line.
  • the direction obtaining module 102 when used to obtain the target moving direction of the self-mobile robot in the area to be cleaned, it can be further used for:
  • the direction control module 106 is used to control and adjust the moving direction of the target and/or the main direction of the map when it is detected that the matching situation does not meet the preset condition, so that the moving direction of the target is consistent with the When the main direction is consistent, it can be further used to:
  • control the self-mobile robot When it is detected that the matching situation does not meet the preset conditions, control the self-mobile robot to rotate the preset angle to the main direction of the map to obtain a new target movement direction of the self-mobile robot;
  • Control the moving direction of the new target to be parallel or coincident with the main direction of the clean map, so that the main direction of the map is consistent with the moving direction of the new target.
  • the direction control module 106 when used to control the moving direction of the new target to be parallel or coincident with the main direction of the map of the clean map, so that the main direction of the map is consistent with the moving direction of the new target, it can be further used for:
  • the moving direction deviation correction system 100 described in this embodiment corresponds to the above-mentioned moving direction deviation correction method of the self-mobile robot.
  • each module in the moving direction deviation correction system 100 The functions are described in detail in the corresponding method embodiments, and will not be repeated here.
  • the autonomous mobile robot 10 may include a robot body 12 and a control processor 14 disposed on the robot body 12 .
  • the control processor 14 can control the robot body 12 to move in the area to be cleaned, and to clean the area to be cleaned.
  • control processor 14 may be used to:
  • the control adjusts the moving direction of the target and/or the main direction of the map, so that the moving direction of the target is consistent with the main direction of the map.
  • control processor 14 when used to obtain the cleaning map of the area to be cleaned and the main direction of the map thereof, it can be further used for:
  • a preset algorithm is used to obtain the target boundary line of the clean map; wherein, the target boundary line is the longest boundary line among all the boundary lines of the clean map;
  • the obtained target boundary line determine the extension direction of the target boundary line as the main direction of the map.
  • control processor 14 when used to obtain the target boundary line of the cleaning map according to the obtained cleaning map by using a preset algorithm, it can be further used to:
  • the Hough transform algorithm is used to obtain the target boundary line of the clean map.
  • control processor 14 when the control processor 14 is used to obtain the target boundary line of the cleaning map by using a preset algorithm according to the obtained cleaning map, it can be further used for:
  • the boundary laser points are fitted to form multiple boundary lines by the least square method
  • control processor 14 when the control processor 14 is used to obtain the target boundary line according to the multiple obtained boundary lines, it can be further used for:
  • the obtained multiple boundary lines obtain the longest boundary line among the multiple boundary lines, and set the longest boundary line as the target boundary line.
  • control processor 14 when the control processor 14 is used to obtain the target moving direction of the self-mobile robot in the area to be cleaned, it can be further used for:
  • An initial moving direction of the self-mobile robot in the area to be cleaned is acquired, and the initial moving direction is determined as the target moving direction.
  • control processor 14 when the control processor 14 is used to control and adjust the moving direction of the target and/or the main direction of the map when it is detected that the matching situation does not meet the preset condition, so that the moving direction of the target is consistent with the main direction of the map, it can further use At:
  • control the self-mobile robot When it is detected that the matching situation does not meet the preset conditions, control the self-mobile robot to rotate the preset angle to the main direction of the map to obtain a new target movement direction of the self-mobile robot;
  • Control the moving direction of the new target to be parallel or coincident with the main direction of the clean map, so that the main direction of the map is consistent with the moving direction of the new target.
  • control processor 14 when the control processor 14 is used to control the moving direction of the new target to be parallel or coincident with the main direction of the map of the clean map, so that the main direction of the map is consistent with the moving direction of the new target, it can be further used for:
  • control processor can be used to control the self-mobile robot to achieve the above
  • the specific implementation of each step in the method for correcting the direction of movement can refer to the specific content of the method for correcting the direction of movement above, and will not be repeated here.
  • the self-mobile robot can be a sweeper with a function of correcting the direction of movement.
  • the self-mobile robot can also be set as a floor cleaning machine, an unmanned floor cleaning machine, a vacuum cleaner, etc., with the function of correcting the direction of movement.
  • the present invention also proposes a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement the method for correcting the moving direction as described above. All method steps or some method steps.
  • the present invention realizes all or part of the process in the above method, and it can also be completed by instructing related hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium.
  • the computer program includes computer program code
  • the computer program code may be in the form of source code, object code, executable file or some intermediate form.
  • the computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc.
  • the content contained on computer readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer readable media does not include Electrical carrier signals and telecommunication signals.
  • an embodiment of the present application also provides an electronic device, including a memory and a processor.
  • the memory stores a computer program running on the processor.
  • the processor executes the computer program, all of the above methods for correcting the direction of movement are realized.
  • the so-called processor can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), Application Specific Integrated Circuit (ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or any conventional processor, etc.
  • the processor is the control center of the computer device, and uses various interfaces and lines to connect various parts of the entire computer device.
  • the memory can be used to store computer programs and/or models, and the processor implements various functions of the computer device by running or executing the computer programs and/or models stored in the memory and calling the data stored in the memory.
  • the memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playback function, an image playback function, etc.); The created data (such as audio data, video data, etc.) is used.
  • the memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • non-volatile memory such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • the embodiments of the present invention may be provided as methods, systems, servers or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) having computer-usable program code embodied therein.
  • a computer-usable storage media including but not limited to disk storage and optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
  • the present invention proposes a map deviation correction method, system and self-moving equipment.
  • the map deviation correction method and system proposed by the present invention can not only be applied to self-moving equipment such as sweeping machines, but also can be applied to other automatically moving machine equipment that needs to correct the orientation of the working map.
  • the application of the present invention to a self-moving device (such as a sweeper) that needs to correct the orientation of the cleaning map is illustrated as an example.
  • this embodiment provides a map deviation correction method, which is applied to a self-mobile device. As shown in Figure 5, the method includes:
  • a grid map of the area to be cleaned can be obtained first, and whether there is a deflection between the grid map and the coordinate system of the mobile device is detected. If the grid map is deflected relative to the coordinate system of the self-mobile device, it will be unfavorable to determine the cleaning direction of the self-mobile device in the area to be cleaned. And when it is detected that there is azimuth deflection of the grid map relative to the coordinate system of the mobile device, the deflection angle of the grid map relative to the coordinate system of the mobile device can be obtained, and the grid map is rotated according to the deflection angle, so that the grid map The orientation of is consistent with the orientation of the coordinate system from the mobile device. In this way, the direction of the grid map of the area to be cleaned can be determined, which facilitates the determination of the cleaning direction in the area to be cleaned by the mobile device.
  • step S100 acquiring the grid map of the area to be cleaned may specifically include the following steps:
  • the grid map of the area to be cleaned is obtained by pre-obtaining the obstacle situation and environmental information of the area to be cleaned from the detection sensor (such as a laser detection sensor) set on the mobile device.
  • the detection sensor such as a laser detection sensor
  • the corresponding grid map can be called when the area to be cleaned needs to be cleaned. Since the direction of the grid map of the area to be cleaned is uncertain before the self-mobile device starts cleaning work, that is, the orientation of the grid map may be deflected from the orientation of the coordinate system of the self-mobile device, so it is necessary to The orientation of the map is detected.
  • step S100 detecting the matching of the orientation of the grid map and the coordinate system of the self-mobile device may specifically include the following steps:
  • the map boundary of the grid map can be obtained. Since the map boundary is formed by boundary lines, all boundary lines of the grid map can be obtained according to the map boundary of the grid map.
  • the direction information of all the boundary lines can be obtained.
  • the map main direction of the grid map can be obtained.
  • Detecting the matching of the orientation of the grid map and the coordinate system of the self-mobile device is to detect the matching of the orientation of the main direction of the grid map (ie, the main direction of the map) and the coordinate system of the mobile device.
  • the orientation of the coordinate system of the self-moving device can specifically be the X-axis direction or the Y-axis direction of the coordinate system (which can be a Cartesian coordinate system) of the mobile device, and then the matching of the orientation between the grid map and the coordinate system of the mobile device is detected. , is to detect the match between the main map direction of the grid map and the X-axis direction or Y-axis direction of the coordinate system of the mobile device.
  • the main direction of the grid map (that is, the main direction of the map) can be determined by the boundary lines of the grid map (equivalent to walls in the real environment), and there are usually multiple vertical or horizontal boundary lines in the grid map.
  • the longest boundary line among multiple boundary lines can be defined as the main boundary line, and the boundary line with the most boundary lines in the same direction (such as horizontal or vertical) can also be defined as the main boundary line among multiple boundary lines, and the main boundary line can be determined.
  • the extension direction of the boundary line is the main direction of the map (it may be a direction parallel to or coincident with the extension direction of the main boundary line).
  • step S120 according to the obtained information of all boundary lines, the map main direction of the grid map is obtained, which may specifically include:
  • the direction information of all the boundary lines can be obtained.
  • the extension direction of each boundary line can be obtained.
  • each boundary line is in a direction (oblique direction) in the horizontal direction, or in the vertical direction, or between the horizontal and vertical directions.
  • the number of boundary lines in the same direction can be obtained.
  • the borderlines there may be some borderlines in one direction (eg horizontal), some borderlines in another direction (eg vertical direction), and some borderlines in a third direction (eg oblique). Therefore, the number of boundary lines in different directions can be sorted, for example, the numbers of boundary lines in horizontal, vertical and oblique directions can be sorted respectively.
  • the extension direction of the boundary lines in this direction can be defined as the main direction of the grid map.
  • step S130 according to the obtained main direction of the map, the matching situation between the main boundary line and the coordinate system of the self-mobile device is obtained, which may specifically include the following steps:
  • the boundary line is also formed by multiple boundary laser detection points. After obtaining the main direction of the map, the main boundary line of the grid map can be obtained; and after obtaining the boundary laser detection points of all the boundary lines, the boundary laser detection points of the main boundary line can be obtained.
  • the matching situation between the direction of the main boundary line and the direction of the coordinate system of the mobile device can be obtained. Further, according to the obtained boundary laser detection points on each main boundary line, obtaining the matching situation of the orientation of the main boundary line and the coordinate system of the self-mobile device may specifically include the following steps:
  • Each laser detection point in the grid map corresponds to a laser point coordinate in the coordinate system of the mobile device. Therefore, all boundary laser detection points on each main boundary line can obtain corresponding boundary laser point coordinates (including X-axis coordinates and Y-axis coordinates) in the coordinate system of the mobile device. In addition, the boundary laser point coordinates of all boundary laser detection points on each main boundary line may be obtained, and the boundary laser point coordinates of part of the boundary laser detection points on each main boundary line may also be obtained.
  • the variance value of the coordinates of these boundary laser points can be obtained, that is, the variance value of the X-axis coordinates or the variance value of the Y-axis coordinates of the boundary laser detection points.
  • the variance value of the obtained boundary laser point coordinates it is possible to judge the matching situation between the orientation of the main boundary line and the orientation of the coordinate system of the mobile device (that is, the extension direction of the main boundary line and the X-axis direction of the coordinate system of the mobile device or matching in the Y-axis direction).
  • obtaining the variance value of all boundary laser detection points on each main boundary line, and detecting the matching situation between the main boundary line and the coordinate system of the self-mobile device may specifically include the following steps:
  • the preset value may be the variance value of all boundary laser detection points on the main boundary line when the extension direction of the main boundary line is consistent with the orientation of the coordinate system of the self-mobile device.
  • the extension direction of the main boundary line is parallel to or coincides with the X-axis direction or the Y-axis direction of the coordinate system of the self-mobile device.
  • the direction is deflected relative to the X-axis direction or the Y-axis direction of the coordinate system of the mobile device (that is, the two are not parallel or coincident).
  • the variance value of all boundary laser detection points on each main boundary line is equal to or less than the preset value , it proves that the boundary laser point coordinates of the boundary laser detection point of the main boundary line fluctuate greatly, so that it can be judged that the extension direction of the main boundary line is consistent with the X-axis direction or the Y-axis direction of the coordinate system of the self-moving device ( That is, the two are parallel or coincident).
  • step S200 when it is detected that there is an azimuth deflection of the grid map relative to the coordinate system of the self-mobile device, obtaining the deflection angle of the grid map may specifically include the following steps:
  • the main boundary can be determined according to the coordinates of the boundary laser point on the main boundary line The angle between the line and the X-axis (or Y-axis) of the coordinate system of the mobile device.
  • the included angle between the main boundary line and the X-axis (or Y-axis) of the coordinate system of the mobile device can be directly determined according to the coordinates of multiple boundary laser points on the main boundary line; First determine the linear function of the main boundary line in the coordinate system of the mobile device, and then determine the X axis (or Y axis) of the main boundary line and the coordinate system of the mobile device according to the linear function of the main boundary line. ) angle.
  • S220 Determine the deflection angle of the grid map according to the obtained included angle.
  • the included angle between the main boundary line and the axis of the coordinate system of the mobile device is the deflection angle of the grid map relative to the coordinate system of the mobile device.
  • the grid map can be rotated so as to keep the orientation of the grid map consistent with the coordinate system of the self-mobile device (that is, keep them parallel or coincident).
  • step S300 according to the obtained deflection angle, the grid map is rotated so that the orientation of the grid map is consistent with the coordinate system of the self-mobile device, which may specifically include the following steps:
  • the grid map is continuously rotated at a preset angle (such as 0.1°, or 0.5°, or 1°, etc., which can be determined according to the actual situation), Align the grid map with the orientation from the mobile device's coordinate system.
  • a preset angle such as 0.1°, or 0.5°, or 1°, etc., which can be determined according to the actual situation
  • the variance analysis method in the above step S100 is used to detect the matching between the grid map and the orientation of the coordinate system of the self-mobile device.
  • step S300 after rotating the grid map according to the obtained deflection angle so that the orientation of the grid map is consistent with the orientation of the coordinate system of the self-mobile device, the following steps may also be included:
  • the extension direction of the main boundary line of the rotated grid map is reacquired, so as to obtain the new map main line of the rotated grid map. direction.
  • S500 Determine the target moving direction of the self-mobile device according to the obtained main direction of the new map.
  • the main direction of the new map of the rotated point map is set as the target moving direction of the self-mobile device, that is, as the cleaning direction of the self-mobile device for cleaning the area to be cleaned.
  • map deviation correction system 100 may include:
  • the map matching detection module 102 is used to obtain the grid map of the area to be cleaned, and detect the orientation matching between the grid map and the coordinate system of the mobile device;
  • the deflection angle acquisition module 104 is connected in communication with the map matching detection module 102, and is used to obtain the deflection angle of the grid map when it is detected that the grid map has an azimuth deflection relative to the coordinate system of the mobile device;
  • the rotation correction module 106 is communicated with the deflection angle acquisition module 104, and is used to rotate the grid map according to the obtained deflection angle so that the orientation of the grid map is consistent with the coordinate system of the mobile device.
  • map matching detection module 102 when used to detect the orientation matching between the grid map and the coordinate system of the self-mobile device, it can be further used for:
  • the matching situation between the main boundary line and the coordinate system of the self-mobile device is obtained; wherein, the main boundary line is the boundary line in the main direction of the map.
  • map matching detection module 102 when used to obtain the main map direction of the grid map according to the obtained information of all boundary lines, it can be further used for:
  • the extension direction of most boundary lines with the same direction is the main map direction of the grid map.
  • map matching detection module 102 when used to obtain the orientation matching situation between the main boundary line and the coordinate system of the self-mobile device according to the obtained main direction of the map, it can be further used for:
  • the orientation matching situation between the main boundary line and the coordinate system of the self-mobile device is obtained.
  • map matching detection module 102 when used to obtain the orientation matching between the main boundary line and the coordinate system of the self-mobile device according to the obtained boundary laser detection points on each main boundary line, it can be further used for:
  • map matching detection module 102 when used to obtain the variance values of all boundary laser detection points on each main boundary line, and detect the orientation matching between the main boundary line and the coordinate system of the self-mobile device, it can further used for:
  • the extension direction of the main boundary line has an azimuth deflection relative to the axis direction of the coordinate system of the mobile device;
  • the variance value is equal to or smaller than the preset value, it is determined that the extension direction of the main boundary line is consistent with the axis direction and orientation of the coordinate system of the self-mobile device.
  • the deflection angle acquisition module 104 is used when detecting that the grid map moves relative to the device When there is azimuth deflection in the coordinate system of the device, when obtaining the deflection angle of the grid map, it can be further used for:
  • the rotation correction module 106 can be further used to:
  • the grid map is continuously rotated at a preset angle, so that the orientation of the grid map is consistent with the coordinate system of the self-mobile device.
  • the map matching detection module 102 Also available for:
  • the target moving direction of the ego mobile device is determined.
  • the map deviation correction system 100 described in this embodiment corresponds to the above-mentioned map deviation correction method from a mobile device.
  • the functions of each module in the map deviation correction system 100 in this embodiment are described in detail in the corresponding method embodiments, and will not be repeated here. repeat.
  • the self-moving device 10 may include a device body 12 and a control processor 14 disposed on the device body 12 .
  • the device body 12 can be controlled by the control processor 14 to make it clean the area to be cleaned.
  • the self-moving device may also include a laser detection sensor 16 disposed on the device body 12 and communicated with the control processor 14 .
  • the control processor 14 can control the laser detection sensor 16 to perform laser detection on the area to be cleaned, and obtain obstacle information and environmental information of the area to be cleaned, so as to obtain a grid map of the area to be cleaned.
  • control processor 14 can be used to:
  • the grid map is rotated so that the orientation of the grid map is consistent with the coordinate system of the mobile device.
  • control processor when used to detect the matching of the orientation of the grid map with the coordinate system of the mobile device, it can be further used to:
  • the matching situation between the main boundary line and the coordinate system of the self-mobile device is obtained; wherein, the main boundary line is the boundary line in the main direction of the map.
  • control processor 14 when the control processor 14 is used to obtain the map main direction of the grid map according to the obtained information of all boundary lines, it can be further used for:
  • the extension direction of most boundary lines with the same direction is the main map direction of the grid map.
  • control processor 14 when the control processor 14 is used to obtain the matching situation between the main boundary line and the orientation of the coordinate system of the self-mobile device according to the obtained main direction of the map, it can be further used for:
  • the orientation matching situation between the main boundary line and the coordinate system of the self-mobile device is obtained.
  • control processor 14 when the control processor 14 is used to obtain the matching situation of the orientation of the main boundary line and the coordinate system of the self-mobile device according to the obtained boundary laser detection points on each main boundary line, it can be further used for:
  • control processor 14 may further perform Used for:
  • the extension direction of the main boundary line has an azimuth deflection relative to the axis direction of the coordinate system of the mobile device;
  • the variance value is equal to or smaller than the preset value, it is determined that the extension direction of the main boundary line is consistent with the axis direction and orientation of the coordinate system of the self-mobile device.
  • control processor 14 when the control processor 14 is used to obtain the deflection angle of the grid map when it is detected that the grid map has an azimuth deflection relative to the coordinate system of the self-mobile device, it can be further used for:
  • control processor 14 when the control processor 14 is used to rotate the grid map according to the obtained deflection angle so that the grid map is consistent with the orientation of the coordinate system of the self-mobile device, it can be further used for:
  • the grid map is continuously rotated at a preset angle, so that the orientation of the grid map is consistent with the coordinate system of the self-mobile device.
  • control processor 14 can also use At:
  • the target moving direction of the ego mobile device is determined.
  • control processor can be used to control the self-mobile device to realize the above-mentioned
  • the control processor can be used to control the self-mobile device to realize the above-mentioned
  • control processor can be directly set on the device body of the self-mobile device, or can be set on the cloud server and communicated with a lower controller set on the device body of the self-mobile device.
  • the mobile device can be a sweeper.
  • the self-mobile device can also be set as a floor cleaning machine with a map deviation correction function, an unmanned floor cleaning machine, a vacuum cleaner, and so on.
  • the present invention also proposes a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement all the above-mentioned map deviation correction methods.
  • the present invention realizes all or part of the process in the above method, and it can also be completed by instructing related hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium.
  • the computer program includes computer program code
  • the computer program code may be in the form of source code, object code, executable file or some intermediate form.
  • the computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc.
  • the content contained on computer readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer readable media does not include Electrical carrier signals and telecommunication signals.
  • an embodiment of the present application also provides an electronic device, including a memory and a processor, the memory stores a computer program running on the processor, and when the processor executes the computer program, all methods in the above map deviation correction method are implemented step or part of a method step.
  • the so-called processor may be a central processing unit (Central Processing Unit, CPU), or It can be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or any conventional processor, etc.
  • the processor is the control center of the computer device, and uses various interfaces and lines to connect various parts of the entire computer device.
  • the memory can be used to store computer programs and/or models, and the processor implements various functions of the computer device by running or executing the computer programs and/or models stored in the memory and calling the data stored in the memory.
  • the memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playback function, an image playback function, etc.); The created data (such as audio data, video data, etc.) is used.
  • the memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • non-volatile memory such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • the embodiments of the present invention may be provided as methods, systems, servers or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) having computer-usable program code embodied therein.
  • a computer-usable storage media including but not limited to disk storage and optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

Abstract

一种移动方向纠偏方法、系统及自移动机器人（10）。该方法包括：获取待清洁区域的清洁地图及其地图主方向，并获取自移动机器人在待清洁区域中的目标移动方向（S100）；根据得到的地图主方向和目标移动方向，判断目标移动方向与地图主方向的匹配情况（S200）；当检测到匹配情况不满足预设条件时，控制调整目标移动方向和/或地图主方向，以使目标移动方向与地图主方向保持一致（S300）。该方法可解决自移动机器人（10）在待清洁区域中工作时，可能会出现自移动机器人（10）的移动方向与清洁地图不匹配的情况，会导致清扫效率降低，影响用户体验的问题。

Description

移动方向纠偏方法、移动方向纠偏方法、系统及自移动机器人
本公开要求如下专利申请的优先权：于2022年2月26日提交中国专利局、申请号为202210181577.1、发明名称为“移动方向纠偏方法、系统及自移动机器人”的中国专利申请，于2022年2月26日提交中国专利局、申请号为202210181580.3、发明名称为“地图纠偏方法、系统及自移动设备”的中国专利申请；上述专利申请的全部内容通过引用结合在本公开中。
技术领域
本发明涉及清洁设备技术领域，特别涉及一种移动方向纠偏方法、系统及自移动机器人。
背景技术
随着自动化技术和人工智能技术的不断发展，洗地机、扫地机等各种自移动机器人的应用越来越广泛，给人们的生活带了极大的便利。在传统技术中，扫地机等自移动机器人在清洁过程中，一般会按照预设的清洁地图在待清洁区域中移动和工作。但是，自移动机器人在待清洁区域中工作时，可能会出现自移动机器人的移动方向与清洁地图不匹配的情况，会导致清扫效率降低，影响用户体验。
发明内容
因此，本发明所要解决的技术问题是自移动机器人在待清洁区域中工作时，可能会出现自移动机器人的移动方向与清洁地图不匹配的情况，会导致清扫效率降低，影响用户体验。
为解决上述技术问题，本发明提供一种移动方向纠偏方法，应用于自移动机器人，所述方法包括：
获取待清洁区域的清洁地图及其地图主方向，并获取自移动机器人在所述待清洁区域中的目标移动方向；
根据得到的所述地图主方向和所述目标移动方向，判断所述目标移动 方向与所述地图主方向的匹配情况；
当检测到所述匹配情况不满足预设条件时，控制调整所述目标移动方向和/或所述地图主方向，以使所述目标移动方向与所述地图主方向保持一致。
可选地，所述获取待清洁区域的清洁地图及其地图主方向，包括：
获取待清洁区域的清洁地图；
根据得到的所述清洁地图，采用预设算法获取所述清洁地图的目标边界线；其中，所述目标边界线为所述清洁地图的所有的边界线中最长的一条边界线；
根据得到的所述目标边界线，确定所述目标边界线的延伸方向为地图主方向。
可选地，所述根据得到的所述清洁地图，采用预设算法获取所述清洁地图的目标边界线，包括：
根据得到的所述清洁地图，获取所述清洁地图的边界图像；
根据得到的所述边界图像，采用霍夫变换算法得到所述清洁地图的目标边界线。
可选地，所述根据得到的所述清洁地图，采用预设算法获取所述清洁地图的目标边界线，包括：
根据得到的所述清洁地图，获取所述清洁地图的所有边界位置处的边界激光点信息；
根据得到的所有边界位置处的所述边界激光点信息，采用最小二乘法将边界激光点拟合形成多条边界线；
根据得到的多条所述边界线，获取所述目标边界线。
可选地，所述根据得到的多条所述边界线，获取所述目标边界线，包括：
根据得到的多条所述边界线，获取多条所述边界线中最长的一条所述边界线，设定最长的一条所述边界线为所述目标边界线。
可选地，所述当检测到所述匹配情况不满足预设条件时，控制调整所 述目标移动方向和/或所述地图主方向，以使所述目标移动方向与所述地图主方向保持一致，包括：
当检测到所述匹配情况不满足预设条件时，根据所述目标移动方向，控制调整所述清洁地图的所述地图主方向，得到所述清洁地图的新地图主方向；
控制所述新地图主方向与所述目标移动方向平行或重合，以使得所述新地图主方向与所述目标移动方向保持一致；或/和，
当检测到所述匹配情况不满足预设条件时，控制所述自移动机器人向所述地图主方向旋转预设角度，得到所述自移动机器人的新目标移动方向；
控制所述新目标移动方向与所述清洁地图的所述地图主方向平行或重合，以使得所述地图主方向与所述新目标移动方向保持一致。
可选地，所述控制所述新目标移动方向与所述清洁地图的所述地图主方向平行或重合，以使得所述地图主方向与所述新目标移动方向保持一致，包括：
根据得到的所述自移动机器人旋转所述预设角度后得到的新目标移动方向，获取所述待清洁区域在所述新目标移动方向处的目标边界线；
当检测到所述目标边界线的延伸方向与所述地图主方向平行或重合时，判断所述新目标移动方向与所述地图主方向保持一致。
可选地，所述获取自移动机器人在所述待清洁区域中的目标移动方向，包括：
获取所述自移动机器人在所述待清洁区域中的初始移动方向，并确定所述初始移动方向为所述目标移动方向。
此外，本发明还提出一种移动方向纠偏系统，应用于自移动机器人，包括：
方向获取模块，用于获取待清洁区域的清洁地图及其地图主方向，并获取自移动机器人在所述待清洁区域中的目标移动方向；
方向匹配检测模块，用于根据得到的所述地图主方向和所述目标移动 方向，判断所述目标移动方向与所述地图主方向的匹配情况；
方向控制模块，用于当检测到所述匹配情况不满足预设条件时，控制调整所述目标移动方向和/或所述地图主方向，以使所述目标移动方向与所述地图主方向保持一致。
此外，本发明还提出一种自移动机器人，包括：
机器人本体；以及，
控制处理器，设于所述机器人本体上；
其中，所述控制处理器用于：
获取待清洁区域的清洁地图及其地图主方向，并获取自移动机器人在所述待清洁区域中的目标移动方向；
根据得到的所述地图主方向和所述目标移动方向，判断所述目标移动方向与所述地图主方向的匹配情况；
当检测到所述匹配情况不满足预设条件时，控制调整所述目标移动方向和/或所述地图主方向，以使所述目标移动方向与所述地图主方向保持一致。
另一方面，随着自动化技术和人工智能技术的不断发展，洗地机、扫地机等各种自移动设备的应用越来越广泛，给人们的生活带了极大的便利。在传统技术中，扫地机等自移动设备在对待清洁区域进行清洁的过程中，通常按预设的清洁地图在待清洁区域中移动。但是，扫地机等自移动设备在开始清洁工作前，得到的清洁地图的方向具有不确定性，不利于自移动设备确定清扫方向。
为此，本申请还提供了一种地图纠偏方法、系统及自移动设备，以解决传统技术中自移动设备得到的清洁地图的方向具有不确定性，不利于自移动设备确定清扫方向的问题。
为解决上述技术问题，本发明提供一种地图纠偏方法，应用于自移动设备，所述方法包括：
获取待清洁区域的格栅地图，并检测所述格栅地图与所述自移动设备 的坐标系的方位匹配情况；
当检测到所述格栅地图相对所述自移动设备的坐标系存在方位偏转时，获取所述格栅地图的偏转角度；
根据得到的所述偏转角度，对所述格栅地图进行旋转使所述格栅地图与所述自移动设备的坐标系的方位一致。
可选地，所述检测所述格栅地图与所述自移动设备的坐标系的方位匹配情况，包括：
根据得到的所述格栅地图，获取所述格栅地图的所有的边界线的信息；
根据得到的所有的所述边界线的信息，获取所述格栅地图的地图主方向；
根据得到的所述地图主方向，获取主边界线与所述自移动设备的坐标系的方位匹配情况；其中，所述主边界线为在所述地图主方向上的所述边界线。
可选地，所述根据得到的所有的所述边界线的信息，获取所述格栅地图的地图主方向，包括：
根据得到的所有的所述边界线的信息，获取每条所述边界线的延伸方向；
根据得到的所有的所述边界线的延伸方向，确定方向相同的多数所述边界线的延伸方向为所述格栅地图的地图主方向。
可选地，所述根据得到的所述地图主方向，获取主边界线与所述自移动设备的坐标系的方位匹配情况，包括：
根据得到的所述地图主方向和所有的所述边界线的信息，获取每条所述主边界线上的边界激光检测点；
根据得到的每条所述主边界线上的所述边界激光检测点，获取所述主边界线与所述自移动设备的坐标系的方位匹配情况。
可选地，所述根据得到的每条所述主边界线上的所述边界激光检测点，获取所述主边界线与所述自移动设备的坐标系的方位匹配情况，包括：
根据得到的每条所述主边界线上的所有的所述边界激光检测点，获取 每个所述边界激光检测点在所述坐标系中的边界激光点坐标；
获取每条所述主边界线上的所述边界激光检测点的方差值，检测所述主边界线与所述自移动设备的坐标系的方位匹配情况。
可选地，所述获取每条所述主边界线上所有的所述边界激光检测点的方差值，检测所述主边界线与所述自移动设备的坐标系的方位匹配情况，包括：
根据得到的每条所述主边界线上所有的所述边界激光检测点的方差值，与预设值进行比较以检测所述主边界线与所述自移动设备的坐标系的方位匹配情况；
当所述方差值大于所述预设值时，判断所述主边界线的延伸方向相对所述自移动设备的坐标系的轴线方向存在方位偏转；
当所述方差值等于或小于所述预设值时，判断所述主边界线的延伸方向与所述自移动设备的坐标系的轴线方向方位一致。
可选地，所述当检测到所述格栅地图相对所述自移动设备的坐标系存在方位偏转时，获取所述格栅地图的偏转角度，包括：
当检测到所述格栅地图相对所述自移动设备的坐标系存在方位偏转时，获取所述主边界线与所述坐标系的轴线的夹角；
根据得到的所述夹角，确定所述格栅地图的偏转角度。
可选地，所述根据得到的所述偏转角度，对所述格栅地图进行旋转使所述格栅地图与所述自移动设备的坐标系的方位一致之后，还包括：
当所述格栅地图与所述自移动设备的坐标系的方位一致时，获取所述格栅地图的新地图主方向；
根据得到的所述新地图主方向，确定所述自移动设备的目标移动方向。
此外，本发明还提出一种地图纠偏系统，应用于自移动设备，包括：
地图匹配检测模块，用于获取待清洁区域的格栅地图，并检测所述格栅地图与所述自移动设备的坐标系的方位匹配情况；
偏转角度获取模块，用于当检测到所述格栅地图相对所述自移动设备 的坐标系存在方位偏转时，获取所述格栅地图的偏转角度；
旋转纠偏模块，用于根据得到的所述偏转角度，对所述格栅地图进行旋转使所述格栅地图与所述自移动设备的坐标系的方位一致。
此外，本发明还提出一种自移动设备，包括：
设备本体；以及，
控制处理器，设于所述设备本体上；
其中，所述控制处理器用于：
获取待清洁区域的格栅地图，并检测所述格栅地图与所述自移动设备的坐标系的方位匹配情况；
当检测到所述格栅地图相对所述自移动设备的坐标系存在方位偏转时，获取所述格栅地图的偏转角度；
根据得到的所述偏转角度，对所述格栅地图进行旋转使所述格栅地图与所述自移动设备的坐标系的方位一致。
本发明提供的技术方案，具有以下优点：
本发明提供的移动方向纠偏方法，在自移动机器人对待清洁区域进行清扫前，可先获取待清洁区域的清洁地图的地图主方向、以及自移动机器人在待清洁区域中的目标移动方向(即初始移动方向)，并判断地图主方向与目标移动方向是否匹配，即检测地图主方向与目标移动方向是否一致。如果地图主方向与目标移动方向不一致(即不满足预设条件，出现偏转)，则可对目标移动方向和/或地图主方向进行调整，以使目标移动方向与地图主方向保持一致。这样，可在清洁地图的地图主方向相对自移动机器人的目标移动方向出现偏转时，对自移动机器人或/和清洁地图进行纠偏，使机器人最开始行走的方向与地图主方向平行或重合，从而提升清扫效率，提升用户体验。
本发明提供的地图纠偏方法，在通过自移动设备对待清洁区域进行清洁时，可先获取待清洁区域的格栅地图，并检测格栅地图与自移动设备的坐标系是否存在偏转。如果格栅地图相对自移动设备的坐标系存在偏转，会不利于确定自移动设备在待清洁区域中的清扫方向。而当检测到格栅地 图相对自移动设备的坐标系存在方位偏转时，可获取格栅地图相对自移动设备的坐标系的偏转角度，并根据偏转角度对格栅地图进行旋转，使得格栅地图的方位与自移动设备的坐标系的方位一致。这样，可使得待清洁区域的格栅地图的方向确定，便于自移动设备确定在待清洁区域中的清扫方向。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例所述移动方向纠偏方法的步骤流程示意图；
图2为本发明实施例所述移动方向纠偏系统的结构示意简框图；
图3为本发明实施例所述自移动机器人的结构示意简框图；
图4为本发明实施例所述自移动机器人的立体结构示意图；
图5为本发明实施例所述地图纠偏方法的步骤流程示意图；
图6为本发明实施例所述地图纠偏系统的结构示意简框图；
图7为本发明实施例所述自移动设备的结构示意简框图；
图8为本发明实施例所述自移动设备的立体结构示意图。
具体实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。下文中将参考附图并结合实施例来详细说明本发明。需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
在本发明中，在未作相反说明的情况下，使用的方位词如“上、下、顶、底”通常是针对附图所示的方向而言的，或者是针对部件本身在竖直、垂直或重力方向上而言的；同样地，为便于理解和描述，“内、外”是指相对于各部件本身的轮廓的内、外，但上述方位词并不用于限制本发明。
在传统技术中，扫地机等自移动机器人在清洁过程中，一般会按照预设的清洁地图在待清洁区域中移动和工作。但是，自移动机器人在待清洁区域中工作时，可能会出现自移动机器人的移动方向与清洁地图不匹配的情况，会导致清扫效率降低，影响用户体验。为了解决上述技术问题，本发明提出了一种移动方向纠偏方法、系统及自移动机器人。
本发明提出的移动方向纠偏方法、系统，不仅可应用于具有纠偏功能的自移动机器人上，也可以应用于需要对移动方向进行纠偏的其他的自移动的机器设备上。在以下实施例中，本发明以应用于扫地机等具有纠偏功能的自移动机器人为例进行说明。
本实施例提供一种移动方向纠偏方法，应用于自移动机器人。如图1所示，所述方法包括：
S100、获取待清洁区域的清洁地图及其地图主方向，并获取自移动机器人在待清洁区域中的目标移动方向；
S200、根据得到的地图主方向和目标移动方向，判断目标移动方向与地图主方向的匹配情况；
S300、当检测到匹配情况不满足预设条件时，控制调整目标移动方向和/或地图主方向，以使目标移动方向与地图主方向保持一致。
在自移动机器人对待清洁区域进行清扫前，可先获取待清洁区域的清洁地图的地图主方向、以及自移动机器人在待清洁区域中的目标移动方向(即初始移动方向)，并判断地图主方向与目标移动方向是否匹配，即检测地图主方向与目标移动方向是否一致。如果地图主方向与目标移动方向不一致(即不满足预设条件，出现偏转)，则可对目标移动方向和/或地图主方向进行调整，以使目标移动方向与地图主方向保持一致。这样，可在清洁地图的地图主方向相对自移动机器人的目标移动方向出现偏转时，对 自移动机器人或/和清洁地图进行纠偏，使机器人最开始行走的方向与地图主方向平行或重合，从而提升清扫效率，提升用户体验。
进一步地，在步骤S100中，获取待清洁区域的清洁地图及其地图主方向，具体可包括如下步骤：
S110、获取待清洁区域的清洁地图；
可预先通过自移动机器人上设置的检测传感器获取待清洁区域的障碍物信息和环境信息，从而获得待清洁区域的清洁地图。在自移动机器人进入待清洁区域准备进行清扫时，可调用预先获得的清洁地图。
S120、根据得到的清洁地图，采用预设算法获取清洁地图的目标边界线；其中，目标边界线为清洁地图的所有的边界线中最长的一条边界线；
在得到待清洁区域的清洁地图时，即可得到清洁地图的边界信息。根据得到的边界信息，就可以得到清洁地图的所有的边界线，然后就可以从所有的边界线中得到最长的目标边界线。
S130、根据得到的目标边界线，确定目标边界线的延伸方向为地图主方向。
由于目标边界线为最长的边界线，所以以目标边界线的延伸方向为地图主方向时，所覆盖的待清洁区域的面积相对较大，而自移动机器人以该地图主方向移动清洁时，直接进行清洁的覆盖面积大，清扫过程中转弯较少，具有较高的清洁效率。
而且，在步骤S120中，根据得到的清洁地图，采用预设算法获取清洁地图的目标边界线，具体可包括如下步骤：
S122、根据得到的清洁地图，获取清洁地图的边界图像；
进行霍夫线变换之前需要先对清洁地图的边界图像进行canny边缘检测得到二值图，将这个二值图进行霍夫线变换。
S124、根据得到的边界图像，采用霍夫变换算法(霍夫线变换)得到清洁地图的目标边界线。
在得到清洁地图的边界图像的二值图后，可找出二值图中的边缘点(位于直角坐标系中)，通过霍夫线变换可获得在极坐标系中的曲线。
在得到每个边缘点的曲线后，通过计算极坐标平面中各交点所在的曲线数量来检测直线，即可检测边界线。某点相交的曲线越多，意味着该交点所表示的边界线具有越多的点，即在边界图像中的边界线越长。这样，就可以从所有的边界线中找到最长的一条边界线，从而得到目标边界线。
此外，在步骤S120中，根据得到的清洁地图，采用预设算法获取清洁地图的目标边界线，也可包括如下步骤：
S125、根据得到的清洁地图，获取清洁地图的所有边界位置处的边界激光点信息；
根据得到的清洁地图，即可得到待清洁区域的格栅地图(清洁地图一般由自移动机器人上设置的激光检测传感器检测到的激光点云形成)。通过激光点云形成的格栅地图，就可得到清洁地图的所有边界位置处的边界激光点信息(包括边界激光点坐标)。
S126、根据得到的所有边界位置处的边界激光点信息，采用最小二乘法将边界激光点拟合形成多条边界线；
具体可在每个边界位置选取多个边界激光点，并采用最小二乘法对这些边界激光点进行直线拟合，从而得的该边界位置处的一条边界线。重复上述步骤，即可得到清洁地图的所有边界位置处的拟合直线，从而得到多条边界线。
S127、根据得到的多条边界线，获取目标边界线。
进一步地，根据得到的多条边界线，获取目标边界线，具体可包括如下步骤：
根据得到的多条边界线，获取多条边界线中最长的一条边界线，设定最长的一条边界线为目标边界线。
通过每条边界线的直线函数(采用采用最小二乘法拟合直线时可得到)，以及首尾点(即首尾两个边界激光点)的坐标，可得到该边界线的长度。这样，就可从多条边界线中，找出最长的一条边界线，从而得到目标边界线。
此外，在步骤S100中，获取自移动机器人在待清洁区域中的目标移动 方向，具体可包括如下步骤：
获取自移动机器人在待清洁区域中的初始移动方向，并确定初始移动方向为目标移动方向。
此外，在步骤S200中，根据得到的地图主方向和目标移动方向，判断目标移动方向与地图主方向的匹配情况，具体可包括如下步骤：
S210、根据得到的清洁地图的地图主方向和自移动机器人的目标移动方向，判断目标移动方向与地图主方向是否一致(即是否匹配)；
具体地，可通过目标移动方向与地图主方向是否平行或重合，以判断目标移动方向与地图主方向是否一致。而且，自移动机器人的目标移动方向可设为直角坐标系的X轴方向或Y轴方向。即可通过判断目标边界线与X轴或Y轴平行或重合，以判断目标移动方向与地图主方向是否一致。
S220、当目标移动方向与地图主方向一致(即匹配情况满足预设条件)时，判断目标移动方向与地图主方向匹配；
当目标边界线与X轴或Y轴平行或重合，即目标移动方向与地图主方向平行或重合时，目标移动方向与地图主方向一致，即目标移动方向与地图主方向匹配。
S230、当目标移动方向与地图主方向不一致(即匹配情况不满足预设条件)时，判断目标移动方向与地图主方向不匹配。
当目标边界线与X轴或Y轴不平行或不重合，即目标移动方向与地图主方向不平行或不重合时，目标移动方向与地图主方向不一致，即目标移动方向与地图主方向不匹配。
此外，在步骤S300中，当检测到匹配情况不满足预设条件时，控制调整目标移动方向和/或地图主方向，以使目标移动方向与地图主方向保持一致，可包括如下步骤：
S310、当检测到匹配情况不满足预设条件时，根据目标移动方向，控制调整清洁地图的地图主方向，得到清洁地图的新地图主方向；
S320、控制新地图主方向与目标移动方向平行或重合，以使得新地图主方向与目标移动方向保持一致。
即当目标移动方向与地图主方向不平行或不重合时，可以控制调整清洁地图的地图主方向，即可旋转调整清洁地图的方位，使得旋转调整后的清洁地图的新地图主方向与自移动机器人的目标移动方向平行或重合。
此外，在步骤S300中，当检测到匹配情况不满足预设条件时，控制调整目标移动方向和/或地图主方向，以使目标移动方向与地图主方向保持一致，也可包括如下步骤：
S330、当检测到匹配情况不满足预设条件时，控制自移动机器人向地图主方向旋转预设角度，得到自移动机器人的新目标移动方向；
S340、控制新目标移动方向与清洁地图的地图主方向平行或重合，以使得地图主方向与新目标移动方向保持一致。
即当目标移动方向与地图主方向不平行或不重合时，可以控制调整自移动机器人的目标移动方向，即可旋转调整自移动机器人的方位，使得旋转调整后的自移动机器人的新目标移动方向与清洁地图的地图主方向平行或重合。
进一步地，在步骤S340中，控制新目标移动方向与清洁地图的地图主方向平行或重合，以使得地图主方向与新目标移动方向保持一致，具体可包括如下步骤：
S342、根据得到的自移动机器人旋转预设角度后得到的新目标移动方向，获取待清洁区域在新目标移动方向处的目标边界线；
可通过上述的预设算法重新获取目标边界线；也可在通过上述方法获取目标边界线后对其进行标记，在旋转自移动机器人后直接获取标记的目标边界线。
S344、当检测到目标边界线的延伸方向与地图主方向平行或重合时，判断新目标移动方向与地图主方向保持一致。
而且，需要说明的是，上述步骤S310和步骤S320可作为整体单独实施(即仅仅对清洁地图进行旋转调整)，步骤S330和步骤S330也可作为整体单独实施(即仅仅对自移动机器人进行旋转调整)，作为整体的步骤S310和步骤S320和作为整体的步骤S330和步骤S330也可同时实施(即 同时对清洁地图和自移动机器人进行旋转调整)。
本实施例提供一种移动方向纠偏系统，应用于自移动机器人。如图2所示，该移动方向纠偏系统100可包括：
方向获取模块102，用于获取待清洁区域的清洁地图及其地图主方向，并获取自移动机器人在待清洁区域中的目标移动方向；
方向匹配检测模块104，与方向获取模块102通信连接，用于根据得到的地图主方向和目标移动方向，判断目标移动方向与地图主方向的匹配情况；
方向控制模块106，与方向匹配检测模块104通信连接，用于当检测到匹配情况不满足预设条件时，控制调整目标移动方向和/或地图主方向，以使目标移动方向与地图主方向保持一致。
而且，方向获取模块102在用于获取待清洁区域的清洁地图及其地图主方向时，可进一步用于：
获取待清洁区域的清洁地图；
根据得到的所述清洁地图，采用预设算法获取清洁地图的目标边界线；其中，目标边界线为清洁地图的所有的边界线中最长的一条边界线；
根据得到的目标边界线，确定目标边界线的延伸方向为地图主方向。
进一步地，方向获取模块102在用于根据得到的所述清洁地图，采用预设算法获取清洁地图的目标边界线时，可更进一步用于：
根据得到的清洁地图，获取清洁地图的边界图像；
根据得到的边界图像，采用霍夫变换算法得到清洁地图的目标边界线。
此外，方向获取模块102在用于根据得到的清洁地图，采用预设算法获取清洁地图的目标边界线时，也可更进一步用于：
根据得到的清洁地图，获取清洁地图的所有边界位置处的边界激光点信息；
根据得到的所有边界位置处的边界激光点信息，采用最小二乘法将边界激光点拟合形成多条边界线；
根据得到的多条边界线，获取目标边界线。
进一步地，方向获取模块102在用于根据得到的多条所述边界线，获取所述目标边界线时，可更进一步用于：
根据得到的多条边界线，获取多条边界线中最长的一条边界线，设定最长的一条边界线为目标边界线。
此外，方向获取模块102在用于获取自移动机器人在待清洁区域中的目标移动方向时，可进一步用于：
获取自移动机器人在待清洁区域中的初始移动方向，并确定初始移动方向为目标移动方向。
此外，方向控制模块106在用于当检测到所述匹配情况不满足预设条件时，控制调整所述目标移动方向和/或所述地图主方向，以使所述目标移动方向与所述地图主方向保持一致时，可进一步用于：
当检测到匹配情况不满足预设条件时，根据目标移动方向，控制调整清洁地图的所述地图主方向，得到清洁地图的新地图主方向；
控制新地图主方向与目标移动方向平行或重合，以使得新地图主方向与目标移动方向保持一致；或者，
当检测到匹配情况不满足预设条件时，控制自移动机器人向地图主方向旋转预设角度，得到自移动机器人的新目标移动方向；
控制新目标移动方向与清洁地图的地图主方向平行或重合，以使得地图主方向与新目标移动方向保持一致。
进一步地，方向控制模块106在用于控制新目标移动方向与清洁地图的地图主方向平行或重合，以使得地图主方向与新目标移动方向保持一致时，可进一步用于：
根据得到的自移动机器人旋转预设角度后得到的新目标移动方向，获取待清洁区域在新目标移动方向处的目标边界线；
当检测到目标边界线的延伸方向与地图主方向平行或重合时，判断新目标移动方向与地图主方向保持一致。
本实施例所述的移动方向纠偏系统100与上述的自移动机器人的移动方向纠偏方法相互对应，本实施例中移动方向纠偏系统100中各个模块的 功能在相应的方法实施例中详细阐述，在此不再赘述。
本实施例提供一种自移动机器人，如图3和图4所示，该自移动机器人10可包括机器人本体12，以及设于机器人本体12上的控制处理器14。控制处理器14可控制机器人本体12在待清洁区域移动，并对待清洁区域进行清扫清洁。
而且，控制处理器14可用于：
获取待清洁区域的清洁地图及其地图主方向，并获取自移动机器人在待清洁区域中的目标移动方向；
根据得到的地图主方向和所述目标移动方向，判断目标移动方向与地图主方向的匹配情况；
当检测到匹配情况不满足预设条件时，控制调整目标移动方向和/或地图主方向，以使目标移动方向与地图主方向保持一致。
而且，控制处理器14在用于获取待清洁区域的清洁地图及其地图主方向时，可进一步地用于：
获取待清洁区域的清洁地图；
根据得到的清洁地图，采用预设算法获取清洁地图的目标边界线；其中，目标边界线为清洁地图的所有的边界线中最长的一条边界线；
根据得到的目标边界线，确定目标边界线的延伸方向为地图主方向。
进一步地，控制处理器14在用于根据得到的所述清洁地图，采用预设算法获取所述清洁地图的目标边界线时，可更进一步地用于：
根据得到的清洁地图，获取清洁地图的边界图像；
根据得到的边界图像，采用霍夫变换算法得到清洁地图的目标边界线。
此外，控制处理器14在用于根据得到的所述清洁地图，采用预设算法获取所述清洁地图的目标边界线时，可更进一步地用于：
根据得到的清洁地图，获取清洁地图的所有边界位置处的边界激光点信息；
根据得到的所有边界位置处的边界激光点信息，采用最小二乘法将边界激光点拟合形成多条边界线；
根据得到的多条边界线，获取目标边界线。
而且，控制处理器14在用于根据得到的多条所述边界线，获取目标边界线时，可更进一步地用于：
根据得到的多条边界线，获取多条边界线中最长的一条边界线，设定最长的一条边界线为目标边界线。
此外，控制处理器14在用于获取自移动机器人在所述待清洁区域中的目标移动方向时，可进一步地用于：
获取所述自移动机器人在所述待清洁区域中的初始移动方向，并确定所述初始移动方向为所述目标移动方向。
此外，控制处理器14在用于当检测到匹配情况不满足预设条件时，控制调整目标移动方向和/或地图主方向，以使目标移动方向与地图主方向保持一致时，可进一步地用于：
当检测到匹配情况不满足预设条件时，根据目标移动方向，控制调整清洁地图的所述地图主方向，得到清洁地图的新地图主方向；
控制新地图主方向与目标移动方向平行或重合，以使得新地图主方向与目标移动方向保持一致；或者，
当检测到匹配情况不满足预设条件时，控制自移动机器人向地图主方向旋转预设角度，得到自移动机器人的新目标移动方向；
控制新目标移动方向与清洁地图的地图主方向平行或重合，以使得地图主方向与新目标移动方向保持一致。
进一步地，控制处理器14在用于控制新目标移动方向与清洁地图的地图主方向平行或重合，以使得地图主方向与新目标移动方向保持一致时，可进一步地用于：
根据得到的自移动机器人旋转预设角度后得到的新目标移动方向，获取待清洁区域在新目标移动方向处的目标边界线；
当检测到目标边界线的延伸方向与地图主方向平行或重合时，判断新目标移动方向与地图主方向保持一致。
同理，在本实施例中，控制处理器可用于控制自移动机器人实现上述 移动方向纠偏方法中的各步骤，具体实现方式可参照上述移动方向纠偏方法的具体内容，在此不再赘述。
而且，在本实施例中，自移动机器人可设为具有移动方向纠偏功能的扫地机。此外，自移动机器人也可设为具有移动方向纠偏功能的地面清洗机、无人洗地机、吸尘器，等等。
此外，本发明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中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现如上所述的移动方向纠偏方法的所有方法步骤或部分方法步骤。
本发明实现上述方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，计算机程序包括计算机程序代码，计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。计算机可读介质可以包括：能够携带计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。
基于同一发明构思，本申请实施例还提供一种电子设备，包括存储器和处理器，存储器上储存有在处理器上运行的计算机程序，处理器执行计算机程序时实现上述移动方向纠偏方法中的所有方法步骤或部分方法步骤。
所称处理器可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、 专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等，处理器是计算机装置的控制中心，利用各种接口和线路连接整个计算机装置的各个部分。
存储器可用于存储计算机程序和/或模型，处理器通过运行或执行存储在存储器内的计算机程序和/或模型，以及调用存储在存储器内的数据，实现计算机装置的各种功能。存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(例如声音播放功能、图像播放功能等)；存储数据区可存储根据手机的使用所创建的数据(例如音频数据、视频数据等)。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如硬盘、内存、插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)、至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、服务器或计算机程序产品。因此，本发明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，本发明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和光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、服务器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用于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用于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。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。
在传统技术中，扫地机等自移动设备在对待清洁区域进行清洁的过程中，通常按预设的清洁地图在待清洁区域中移动。但是，扫地机等自移动设备在开始清洁工作前，得到的清洁地图的方向具有不确定性，不利于自移动设备确定清扫方向。为了解决上述技术问题，本发明提出了一种地图纠偏方法、系统及自移动设备。
本发明提出的地图纠偏方法、系统，不仅可应用于扫地机等自移动设备，也可以应用于需要对工作地图的方位进行纠正的其他的自动移动的机器设备上。在以下实施例中，本发明以应用于需要对清洁地图的方位进行纠正的自移动设备(如扫地机)为例进行说明。
另一方面，本实施例提供一种地图纠偏方法，应用于自移动设备。如图5所示，所述方法包括：
S100、获取待清洁区域的格栅地图，并检测格栅地图与自移动设备的坐标系的方位匹配情况；
S200、当检测到格栅地图相对自移动设备的坐标系存在方位偏转时， 获取格栅地图的偏转角度；
S300、根据得到的偏转角度，对格栅地图进行旋转使格栅地图与自移动设备的坐标系的方位一致。
在通过自移动设备对待清洁区域进行清洁时，可先获取待清洁区域的格栅地图，并检测格栅地图与自移动设备的坐标系是否存在偏转。如果格栅地图相对自移动设备的坐标系存在偏转，会不利于确定自移动设备在待清洁区域中的清扫方向。而当检测到格栅地图相对自移动设备的坐标系存在方位偏转时，可获取格栅地图相对自移动设备的坐标系的偏转角度，并根据偏转角度对格栅地图进行旋转，使得格栅地图的方位与自移动设备的坐标系的方位一致。这样，可使得待清洁区域的格栅地图的方向确定，便于自移动设备确定在待清洁区域中的清扫方向。
具体地，在步骤S100中，获取待清洁区域的格栅地图，具体可包括如下步骤：
通过自移动设备上设置的检测传感器(如激光检测传感器)预先获取待清洁区域的障碍物情况及环境信息，以获得待清洁区域的格栅地图。
在得到待清洁区域的格栅地图后，在需要对待清洁区域进行清洁时，即可调用相应的格栅地图。由于自移动设备在开始清洁工作前，得到的待清洁区域的格栅地图的方向具有不确定性，即格栅地图的方位与自移动设备的坐标系的方位可能存在偏转，所以需要对格栅地图的方位进行检测。
因此，在步骤S100中，检测格栅地图与自移动设备的坐标系的方位匹配情况，具体可包括如下步骤：
S110、根据得到的格栅地图，获取格栅地图的所有的边界线的信息；
在获取到待清洁区域的格栅地图后，就可以获得格栅地图的地图边界。由于地图边界由边界线形成，则根据格栅地图的地图边界，就可以获得格栅地图的所有的边界线。
S120、根据得到的所有的边界线的信息，获取格栅地图的地图主方向；
在获得格栅地图的所有的边界线后，就可得到所有的边界线的方向信息。根据所有的边界线的方向信息，就可得到格栅地图的地图主方向。
S130、根据得到的地图主方向，获取主边界线与自移动设备的坐标系的方位匹配情况；其中，主边界线为在地图主方向上的边界线。
检测格栅地图与自移动设备的坐标系的方位匹配情况，即是检测格栅地图的主方向(即地图主方向)与自移动设备的坐标系的方位匹配情况。而自移动设备的坐标系的方位具体可为自移动设备的坐标系(可为直角坐标系)的X轴方向或Y轴方向，则检测格栅地图与自移动设备的坐标系的方位匹配情况，是检测格栅地图的地图主方向与自移动设备的坐标系的X轴方向或Y轴方向的匹配情况。
而且，格栅地图的主方向(即地图主方向)可由格栅地图的边界线(相当于现实环境中的墙壁)来确定，格栅地图中通常存在纵向或横向的多条边界线。可定义多条边界线中最长的一条边界线为主边界线，也可定义多条边界线中位于同一方向(如横向或纵向)的边界线最多的边界线为主边界线，并确定主边界线的延伸方向为地图主方向(可为与主边界线的延伸方向平行或重合的方向)。
进一步地，在步骤S120中，根据得到的所有的边界线的信息，获取格栅地图的地图主方向，具体可包括：
S122、根据得到的所有的边界线的信息，获取每条边界线的延伸方向；
在获得格栅地图的所有的边界线后，就可得到所有的边界线的方向信息。根据每条边界线的方向信息，可得到每条边界线的延伸方向。例如，根据每条边界线的方向信息，可得到每条边界线是处于横向、或纵向、或横向和纵向之间的方向(斜向)。
S124、根据得到的所有的边界线的延伸方向，确定方向相同的多数边界线的延伸方向为格栅地图的地图主方向。
在确定每条边界线的延伸方向后，可得到处于相同方向的边界线的数量。在所有的边界线中，可能有些边界线均处于一个方向(如横向)，有些边界线处于另一个方向(如纵向)，有些边界线处于第三方向(如斜向)。因此，可对处于不同方向的边界线的数量进行排序，例如可对分别处于横向、纵向、斜向的边界线的数量进行排序。当检测到处于某个方向(横向、 或纵向、或斜向)的边界线的数量最多时，可定义处于该方向的边界线的延伸方向为格栅地图的地图主方向。
而且，在步骤S130中，根据得到的地图主方向，获取主边界线与自移动设备的坐标系的方位匹配情况，具体可包括如下步骤：
S132、根据得到的地图主方向和所有的边界线的信息，获取每条主边界线上的边界激光检测点；
由于待清洁区域的格栅地图由激光检测传感器检测到的激光点云形成，而激光点云包含有多个激光检测点，所以边界线也是由多个边界激光检测点形成。在得到地图主方向后，就可获得格栅地图的主边界线；并在得到所有的边界线的边界激光检测点后，就可得到主边界线的边界激光检测点。
S134、根据得到的每条主边界线上的边界激光检测点，获取主边界线与自移动设备的坐标系的方位匹配情况。
即根据主边界线上的边界激光检测点，可得到主边界线的方向与自移动设备的坐标系的方向匹配情况。进一步地，根据得到的每条主边界线上的边界激光检测点，获取主边界线与自移动设备的坐标系的方位匹配情况，具体可包括如下步骤：
S1342、根据得到的每条主边界线上的所有的边界激光检测点，获取每个边界激光检测点在坐标系中的边界激光点坐标；
格栅地图中的每个激光检测点，在自移动设备的坐标系中均对应一个激光点坐标。因此，每条主边界线上的所有的边界激光检测点，都可以在自移动设备的坐标系中获得对应的边界激光点坐标(包括X轴坐标和Y轴坐标)。此外，可获取每条主边界线上的所有的边界激光检测点的边界激光点坐标，也可获取每条主边界线上的部分的边界激光检测点的边界激光点坐标。
S1344、获取每条主边界线上的边界激光检测点的方差值，检测主边界线与自移动设备的坐标系的方位匹配情况。
在得到每条主边界线上的所有的边界激光检测点的边界激光点坐标 后，就可以得到这些边界激光点坐标的方差值，即边界激光检测点的X轴坐标的方差值或Y轴坐标的方差值。根据得到的边界激光点坐标的方差值，就可以判断主边界线的方位与自移动设备的坐标系的方位匹配情况(即主边界线的延伸方向与自移动设备的坐标系的X轴方向或Y轴方向的匹配情况)。
更进一步地，获取每条主边界线上所有的边界激光检测点的方差值，检测主边界线与自移动设备的坐标系的方位匹配情况，具体可包括如下步骤：
S13442、根据得到的每条主边界线上所有的边界激光检测点的方差值，与预设值进行比较以检测主边界线与自移动设备的坐标系的方位匹配情况；
该预设值可为主边界线的延伸方向与自移动设备的坐标系的方位一致时，该主边界线上所有的边界激光检测点的方差值。在主边界线的延伸方向与自移动设备的坐标系的方位一致时，主边界线的延伸方向与自移动设备的坐标系的X轴方向或Y轴方向平行或重合。在主边界线的延伸方向与自移动设备的坐标系的方位一致时，主边界线的边界激光检测点的边界激光点坐标的波动会较小，方差值就会相对较小；而在主边界线的延伸方向与自移动设备的坐标系的方位不一致时，主边界线的边界激光检测点的边界激光点坐标的波动会较大，方差值就会相对较大。
S13444、当方差值大于预设值时，判断主边界线的延伸方向相对自移动设备的坐标系的轴线方向存在方位偏转；
每条主边界线上所有的边界激光检测点的方差值大于预设值时，就证明主边界线的边界激光检测点的边界激光点坐标的波动较大，从而可判断主边界线的延伸方向相对自移动设备的坐标系的X轴方向或Y轴方向存在偏转(即二者不平行或不重合)。
S13446、当方差值等于或小于预设值时，判断主边界线的延伸方向与自移动设备的坐标系的轴线方向方位一致。
每条主边界线上所有的边界激光检测点的方差值等于或小于预设值 时，就证明主边界线的边界激光检测点的边界激光点坐标的波动较大，从而可判断主边界线的延伸方向相对自移动设备的坐标系的X轴方向或Y轴方向具有一致性(即二者平行或重合)。
此外，在步骤S200中，当检测到格栅地图相对自移动设备的坐标系存在方位偏转时，获取格栅地图的偏转角度，具体可包括如下步骤：
S210、当检测到格栅地图相对自移动设备的坐标系存在方位偏转时，获取主边界线与坐标系的轴线的夹角；
即当检测到格栅地图的地图主方向上的主边界线与自移动设备的坐标系的X轴方向或Y轴方向存在方位偏转时，可根据主边界线上的边界激光点坐标确定主边界线与自移动设备的坐标系的X轴(或Y轴)的夹角。具体地，可根据主边界线上的多个边界激光点坐标，直接确定主边界线与自移动设备的坐标系的X轴(或Y轴)的夹角；也可根据主边界线上的多个边界激光点坐标，先确定主边界线在自移动设备的坐标系中的直线函数，再根据主边界线的直线函数，确定主边界线与自移动设备的坐标系的X轴(或Y轴)的夹角。
S220、根据得到的夹角，确定格栅地图的偏转角度。主边界线与自移动设备的坐标系的轴线之间的夹角，即为格栅地图相对于自移动设备的坐标系的偏转角度。在得到偏转角度后，就可对格栅地图进行旋转，使格栅地图与所述自移动设备的坐标系的方位保持一致(即二者保持平行或重合)。
此外，在步骤S300中，根据得到的偏转角度，对格栅地图进行旋转使格栅地图与自移动设备的坐标系的方位一致，具体可包括如下步骤：
根据格栅地图相对于自移动设备的坐标系的偏转角度，直接对格栅地图旋转偏转角度，使格栅地图与自移动设备的坐标系的方位一致；或者，
根据格栅地图相对于自移动设备的坐标系的偏转角度，持续以预设角度(如0.1°、或0.5°、或1°等等，具体可根据实际情况确定)对格栅地图进行旋转，使格栅地图与自移动设备的坐标系的方位一致。
而且，为了确保格栅地图与自移动设备的坐标系的方位一致，还可以 在每次旋转后采用上述步骤S100中的方差分析方法，对格栅地图与自移动设备的坐标系的方位的匹配情况进行检测。
此外，在步骤S300，根据得到的偏转角度，对格栅地图进行旋转使格栅地图与自移动设备的坐标系的方位一致之后，还可包括如下步骤：
S400、当格栅地图与自移动设备的坐标系的方位一致后，获取格栅地图的新地图主方向；
即在旋转格栅地图使得格栅地图与自移动设备的坐标系的方位一致之后，重新获取旋转后的格栅地图的主边界线的延伸方向，从而得到旋转后的格栅地图的新地图主方向。
S500、根据得到的新地图主方向，确定自移动设备的目标移动方向。即将旋转后的个点地图的新地图主方向，设置为自移动设备的目标移动方向，即作为自移动设备在待清洁区域进行清洁的清扫方向。
本实施例提供一种地图纠偏系统，应用于自移动设备。如图6所示，该地图纠偏系统100可包括：
地图匹配检测模块102，用于获取待清洁区域的格栅地图，并检测格栅地图与自移动设备的坐标系的方位匹配情况；
偏转角度获取模块104，与地图匹配检测模块102通信连接，用于当检测到格栅地图相对自移动设备的坐标系存在方位偏转时，获取格栅地图的偏转角度；
旋转纠偏模块106，与偏转角度获取模块104通信连接，用于根据得到的偏转角度，对格栅地图进行旋转使格栅地图与自移动设备的坐标系的方位一致。
具体地，地图匹配检测模块102在用于检测所述格栅地图与所述自移动设备的坐标系的方位匹配情况时，可进一步用于：
根据得到的格栅地图，获取格栅地图的所有的边界线的信息；
根据得到的所有的边界线的信息，获取格栅地图的地图主方向；
根据得到的地图主方向，获取主边界线与自移动设备的坐标系的方位匹配情况；其中，主边界线为在地图主方向上的边界线。
而且，地图匹配检测模块102在用于根据得到的所有的边界线的信息，获取格栅地图的地图主方向时，可进一步用于：
根据得到的所有的边界线的信息，获取每条边界线的延伸方向；
根据得到的所有的边界线的延伸方向，确定方向相同的多数边界线的延伸方向为格栅地图的地图主方向。
而且，地图匹配检测模块102在用于根据得到的所述地图主方向，获取主边界线与自移动设备的坐标系的方位匹配情况时，可进一步用于：
根据得到的地图主方向和所有的边界线的信息，获取每条主边界线上的边界激光检测点；
根据得到的每条主边界线上的边界激光检测点，获取主边界线与自移动设备的坐标系的方位匹配情况。
进一步地，地图匹配检测模块102在用于根据得到的每条主边界线上的边界激光检测点，获取主边界线与自移动设备的坐标系的方位匹配情况时，可更进一步地用于：
根据得到的每条主边界线上的所有的边界激光检测点，获取每个边界激光检测点在坐标系中的边界激光点坐标；
获取每条主边界线上的边界激光检测点的方差值，检测主边界线与自移动设备的坐标系的方位匹配情况。
更进一步地，地图匹配检测模块102在用于获取每条主边界线上所有的边界激光检测点的方差值，检测主边界线与自移动设备的坐标系的方位匹配情况时，可更进一步地用于：
根据得到的每条主边界线上所有的边界激光检测点的方差值，与预设值进行比较以检测主边界线与自移动设备的坐标系的方位匹配情况；
当方差值大于预设值时，判断主边界线的延伸方向相对自移动设备的坐标系的轴线方向存在方位偏转；
当方差值等于或小于预设值时，判断主边界线的延伸方向与自移动设备的坐标系的轴线方向方位一致。
此外，偏转角度获取模块104在用于当检测到格栅地图相对自移动设 备的坐标系存在方位偏转时，获取格栅地图的偏转角度时，可进一步用于：
当检测到格栅地图相对自移动设备的坐标系存在方位偏转时，获取主边界线与坐标系的轴线的夹角；
根据得到的夹角，确定格栅地图的偏转角度。
此外，旋转纠偏模块106在用于根据得到的偏转角度，对格栅地图进行旋转使格栅地图与自移动设备的坐标系的方位一致时，可进一步用于：
根据格栅地图相对于自移动设备的坐标系的偏转角度，直接对格栅地图旋转偏转角度，使格栅地图与自移动设备的坐标系的方位一致；或者，
根据格栅地图相对于自移动设备的坐标系的偏转角度，持续以预设角度对格栅地图进行旋转，使格栅地图与自移动设备的坐标系的方位一致。
此外，旋转纠偏模块106在用于根据得到的所述偏转角度，对所述格栅地图进行旋转使所述格栅地图与所述自移动设备的坐标系的方位一致之后，地图匹配检测模块102还可用于：
当格栅地图与自移动设备的坐标系的方位一致时，获取格栅地图的新地图主方向；
根据得到的新地图主方向，确定自移动设备的目标移动方向。
本实施例所述的地图纠偏系统100与上述的自移动设备的地图纠偏方法相互对应，本实施例中地图纠偏系统100中各个模块的功能在相应的方法实施例中详细阐述，在此不再赘述。
本实施例提供一种自移动设备，如图7和图8所示，该自移动设备10可包括设备本体12，以及设于设备本体12上的控制处理器14。通过控制处理器14可对设备本体12进行控制，使其对待清洁区域进行清扫清洁。此外，自移动设备还可包括设于设备本体12上的激光检测传感器16，与控制处理器14通信连接。控制处理器14可控制激光检测传感器16对待清洁区域进行激光检测，获取待清洁区域的障碍物信息和环境信息，从而得到待清洁区域的格栅地图。
具体地，控制处理器14可用于：
获取待清洁区域的格栅地图，并检测格栅地图与所述自移动设备的坐 标系的方位匹配情况；
当检测到格栅地图相对自移动设备的坐标系存在方位偏转时，获取格栅地图的偏转角度；
根据得到的偏转角度，对格栅地图进行旋转使格栅地图与自移动设备的坐标系的方位一致。
而且，控制处理器在用于检测格栅地图与自移动设备的坐标系的方位匹配情况时，可进一步用于：
根据得到的格栅地图，获取格栅地图的所有的边界线的信息；
根据得到的所有的边界线的信息，获取格栅地图的地图主方向；
根据得到的地图主方向，获取主边界线与自移动设备的坐标系的方位匹配情况；其中，主边界线为在地图主方向上的边界线。
而且，控制处理器14在用于根据得到的所有的边界线的信息，获取格栅地图的地图主方向时，可进一步用于：
根据得到的所有的边界线的信息，获取每条边界线的延伸方向；
根据得到的所有的边界线的延伸方向，确定方向相同的多数边界线的延伸方向为格栅地图的地图主方向。
而且，控制处理器14在用于根据得到的所述地图主方向，获取主边界线与自移动设备的坐标系的方位匹配情况时，可进一步用于：
根据得到的地图主方向和所有的边界线的信息，获取每条主边界线上的边界激光检测点；
根据得到的每条主边界线上的边界激光检测点，获取主边界线与自移动设备的坐标系的方位匹配情况。
进一步地，控制处理器14在用于根据得到的每条主边界线上的边界激光检测点，获取主边界线与自移动设备的坐标系的方位匹配情况时，可更进一步地用于：
根据得到的每条主边界线上的所有的边界激光检测点，获取每个边界激光检测点在坐标系中的边界激光点坐标；
获取每条主边界线上的边界激光检测点的方差值，检测主边界线与自 移动设备的坐标系的方位匹配情况。
更进一步地，控制处理器14在用于获取每条主边界线上所有的边界激光检测点的方差值，检测主边界线与自移动设备的坐标系的方位匹配情况时，可更进一步地用于：
根据得到的每条主边界线上所有的边界激光检测点的方差值，与预设值进行比较以检测主边界线与自移动设备的坐标系的方位匹配情况；
当方差值大于预设值时，判断主边界线的延伸方向相对自移动设备的坐标系的轴线方向存在方位偏转；
当方差值等于或小于预设值时，判断主边界线的延伸方向与自移动设备的坐标系的轴线方向方位一致。
此外，控制处理器14在用于当检测到格栅地图相对自移动设备的坐标系存在方位偏转时，获取格栅地图的偏转角度时，可进一步用于：
当检测到格栅地图相对自移动设备的坐标系存在方位偏转时，获取主边界线与坐标系的轴线的夹角；
根据得到的夹角，确定格栅地图的偏转角度。
此外，控制处理器14在用于根据得到的偏转角度，对格栅地图进行旋转使格栅地图与自移动设备的坐标系的方位一致时，可进一步用于：
根据格栅地图相对于自移动设备的坐标系的偏转角度，直接对格栅地图旋转偏转角度，使格栅地图与自移动设备的坐标系的方位一致；或者，
根据格栅地图相对于自移动设备的坐标系的偏转角度，持续以预设角度对格栅地图进行旋转，使格栅地图与自移动设备的坐标系的方位一致。
此外，控制处理器14在用于根据得到的所述偏转角度，对所述格栅地图进行旋转使所述格栅地图与所述自移动设备的坐标系的方位一致之后，控制处理器还可用于：
当格栅地图与自移动设备的坐标系的方位一致时，获取格栅地图的新地图主方向；
根据得到的新地图主方向，确定自移动设备的目标移动方向。
同理，在本实施例中，控制处理器可用于控制自移动设备实现上述地 图纠偏方法中的各步骤，具体实现方式可参照上述地图纠偏方法的具体内容，在此不再赘述。
而且，在本实施例中，控制处理器可直接设置在自移动设备的设备本体上，也可设置在云端服务器上、并通过设置在自移动设备的设备本体上的下位控制器通讯连接。此外，在本实施例中，自移动设备可设为扫地机。此外，自移动设备也可设为具有地图纠偏功能的地面清洗机、无人洗地机、吸尘器，等等。
此外，本发明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中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现如上所述的地图纠偏方法的所有方法步骤或部分方法步骤。
本发明实现上述方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，计算机程序包括计算机程序代码，计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。计算机可读介质可以包括：能够携带计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。
基于同一发明构思，本申请实施例还提供一种电子设备，包括存储器和处理器，存储器上储存有在处理器上运行的计算机程序，处理器执行计算机程序时实现上述地图纠偏方法中的所有方法步骤或部分方法步骤。
所称处理器可以是中央处理单元(Central Processing Unit，CPU)，还 可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等，处理器是计算机装置的控制中心，利用各种接口和线路连接整个计算机装置的各个部分。
存储器可用于存储计算机程序和/或模型，处理器通过运行或执行存储在存储器内的计算机程序和/或模型，以及调用存储在存储器内的数据，实现计算机装置的各种功能。存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(例如声音播放功能、图像播放功能等)；存储数据区可存储根据手机的使用所创建的数据(例如音频数据、视频数据等)。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如硬盘、内存、插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)、至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、服务器或计算机程序产品。因此，本发明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，本发明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和光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、服务器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 用于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用于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。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (20)

  1. 一种移动方向纠偏方法，应用于自移动机器人，其特征在于，所述方法包括：
    获取待清洁区域的清洁地图及其地图主方向，并获取自移动机器人在所述待清洁区域中的目标移动方向；
    根据得到的所述地图主方向和所述目标移动方向，判断所述目标移动方向与所述地图主方向的匹配情况；
    当检测到所述匹配情况不满足预设条件时，控制调整所述目标移动方向和/或所述地图主方向，以使所述目标移动方向与所述地图主方向保持一致。
  2. 根据权利要求1所述的移动方向纠偏方法，其特征在于，所述获取待清洁区域的清洁地图及其地图主方向，包括：
    获取待清洁区域的清洁地图；
    根据得到的所述清洁地图，采用预设算法获取所述清洁地图的目标边界线；其中，所述目标边界线为所述清洁地图的所有的边界线中最长的一条边界线；
    根据得到的所述目标边界线，确定所述目标边界线的延伸方向为地图主方向。
  3. 根据权利要求2所述的移动方向纠偏方法，其特征在于，所述根据得到的所述清洁地图，采用预设算法获取所述清洁地图的目标边界线，包括：
    根据得到的所述清洁地图，获取所述清洁地图的边界图像；
    根据得到的所述边界图像，采用霍夫变换算法得到所述清洁地图的目标边界线。
  4. 根据权利要求2所述的移动方向纠偏方法，其特征在于，所述根据得到的所述清洁地图，采用预设算法获取所述清洁地图的目标边界线，包括：
    根据得到的所述清洁地图，获取所述清洁地图的所有边界位置处的边界激光点信息；
    根据得到的所有边界位置处的所述边界激光点信息，采用最小二乘法将边界激光点拟合形成多条边界线；
    根据得到的多条所述边界线，获取所述目标边界线。
  5. 根据权利要求4所述的移动方向纠偏方法，其特征在于，所述根据得到的多条所述边界线，获取所述目标边界线，包括：
    根据得到的多条所述边界线，获取多条所述边界线中最长的一条所述边界线，设定最长的一条所述边界线为所述目标边界线。
  6. 根据权利要求2所述的移动方向纠偏方法，其特征在于，所述当检测到所述匹配情况不满足预设条件时，控制调整所述目标移动方向和/或所述地图主方向，以使所述目标移动方向与所述地图主方向保持一致，包括：
    当检测到所述匹配情况不满足预设条件时，根据所述目标移动方向，控制调整所述清洁地图的所述地图主方向，得到所述清洁地图的新地图主方向；
    控制所述新地图主方向与所述目标移动方向平行或重合，以使得所述新地图主方向与所述目标移动方向保持一致；或/和，
    当检测到所述匹配情况不满足预设条件时，控制所述自移动机器人向所述地图主方向旋转预设角度，得到所述自移动机器人的新目标移动方向；
    控制所述新目标移动方向与所述清洁地图的所述地图主方向平行或重合，以使得所述地图主方向与所述新目标移动方向保持一致。
  7. 根据权利要求6所述的移动方向纠偏方法，其特征在于，所述控制所述新目标移动方向与所述清洁地图的所述地图主方向平行或重合，以使得所述地图主方向与所述新目标移动方向保持一致，包括：
    根据得到的所述自移动机器人旋转所述预设角度后得到的新目标移动方向，获取所述待清洁区域在所述新目标移动方向处的目标边界线；
    当检测到所述目标边界线的延伸方向与所述地图主方向平行或重合时，判断所述新目标移动方向与所述地图主方向保持一致。
  8. 根据权利要求1-7任一项所述的移动方向纠偏方法，其特征在于，所述获取自移动机器人在所述待清洁区域中的目标移动方向，包括：
    获取所述自移动机器人在所述待清洁区域中的初始移动方向，并确定所述初始移动方向为所述目标移动方向。
  9. 一种移动方向纠偏系统，应用于自移动机器人，其特征在于，包括：
    方向获取模块，用于获取待清洁区域的清洁地图及其地图主方向，并获取自移动机器人在所述待清洁区域中的目标移动方向；
    方向匹配检测模块，用于根据得到的所述地图主方向和所述目标移动方向，判断所述目标移动方向与所述地图主方向的匹配情况；
    方向控制模块，用于当检测到所述匹配情况不满足预设条件时，控制调整所述目标移动方向和/或所述地图主方向，以使所述目标移动方向与所述地图主方向保持一致。
  10. 一种自移动机器人，其特征在于，包括：
    机器人本体；以及，
    控制处理器，设于所述机器人本体上；
    其中，所述控制处理器用于：
    获取待清洁区域的清洁地图及其地图主方向，并获取自移动机器人在所述待清洁区域中的目标移动方向；
    根据得到的所述地图主方向和所述目标移动方向，判断所述目标移动方向与所述地图主方向的匹配情况；
    当检测到所述匹配情况不满足预设条件时，控制调整所述目标移动方向和/或所述地图主方向，以使所述目标移动方向与所述地图主方向保持一致。
  11. 一种地图纠偏方法，应用于自移动设备，其特征在于，所述方法包括：
    获取待清洁区域的格栅地图，并检测所述格栅地图与所述自移动设备的坐标系的方位匹配情况；
    当检测到所述格栅地图相对所述自移动设备的坐标系存在方位偏转时，获取所述格栅地图的偏转角度；
    根据得到的所述偏转角度，对所述格栅地图进行旋转使所述格栅地图与所述自移动设备的坐标系的方位一致。
  12. 根据权利要求11所述的地图纠偏方法，其特征在于，所述检测所述格栅地图与所述自移动设备的坐标系的方位匹配情况，包括：
    根据得到的所述格栅地图，获取所述格栅地图的所有的边界线的信息；
    根据得到的所有的所述边界线的信息，获取所述格栅地图的地图主方向；
    根据得到的所述地图主方向，获取主边界线与所述自移动设备的坐标系的方位匹配情况；其中，所述主边界线为在所述地图主方向上的所述边界线。
  13. 根据权利要求12所述的地图纠偏方法，其特征在于，所述根据得到的所有的所述边界线的信息，获取所述格栅地图的地图主方向，包括：
    根据得到的所有的所述边界线的信息，获取每条所述边界线的延伸方向；
    根据得到的所有的所述边界线的延伸方向，确定方向相同的多数所述边界线的延伸方向为所述格栅地图的地图主方向。
  14. 根据权利要求13所述的地图纠偏方法，其特征在于，所述根据得到的所述地图主方向，获取主边界线与所述自移动设备的坐标系的方位匹配情况，包括：
    根据得到的所述地图主方向和所有的所述边界线的信息，获取每条所述主边界线上的边界激光检测点；
    根据得到的每条所述主边界线上的所述边界激光检测点，获取所述主边界线与所述自移动设备的坐标系的方位匹配情况。
  15. 根据权利要求14所述的地图纠偏方法，其特征在于，所述根据得到的每条所述主边界线上的所述边界激光检测点，获取所述主边界线与所述自移动设备的坐标系的方位匹配情况，包括：
    根据得到的每条所述主边界线上的所有的所述边界激光检测点，获取每个所述边界激光检测点在所述坐标系中的边界激光点坐标；
    获取每条所述主边界线上的所述边界激光检测点的方差值，检测所述主边界线与所述自移动设备的坐标系的方位匹配情况。
  16. 根据权利要求15所述的地图纠偏方法，其特征在于，所述获取每条所述主边界线上所有的所述边界激光检测点的方差值，检测所述主边界线与所述自移动设备的坐标系的方位匹配情况，包括：
    根据得到的每条所述主边界线上所有的所述边界激光检测点的方差值，与预设值进行比较以检测所述主边界线与所述自移动设备的坐标系的方位匹配情况；
    当所述方差值大于所述预设值时，判断所述主边界线的延伸方向相对所述自移动设备的坐标系的轴线方向存在方位偏转；
    当所述方差值等于或小于所述预设值时，判断所述主边界线的延伸方向与所述自移动设备的坐标系的轴线方向方位一致。
  17. 根据权利要求16所述的地图纠偏方法，其特征在于，所述当检测到所述格栅地图相对所述自移动设备的坐标系存在方位偏转时，获取所述格栅地图的偏转角度，包括：
    当检测到所述格栅地图相对所述自移动设备的坐标系存在方位偏转时，获取所述主边界线与所述坐标系的轴线的夹角；
    根据得到的所述夹角，确定所述格栅地图的偏转角度。
  18. 根据权利要求11至17任一项所述的地图纠偏方法，其特征在于，所述根据得到的所述偏转角度，对所述格栅地图进行旋转使所述格栅地图与所述自移动设备的坐标系的方位一致之后，还包括：
    当所述格栅地图与所述自移动设备的坐标系的方位一致时，获取所述格栅地图的新地图主方向；
    根据得到的所述新地图主方向，确定所述自移动设备的目标移动方向。
  19. 一种地图纠偏系统，应用于自移动设备，其特征在于，包括：
    地图匹配检测模块，用于获取待清洁区域的格栅地图，并检测所述格栅地图与所述自移动设备的坐标系的方位匹配情况；
    偏转角度获取模块，用于当检测到所述格栅地图相对所述自移动设备的坐标系存在方位偏转时，获取所述格栅地图的偏转角度；
    旋转纠偏模块，用于根据得到的所述偏转角度，对所述格栅地图进行旋转使所述格栅地图与所述自移动设备的坐标系的方位一致。
  20. 一种自移动设备，其特征在于，包括：
    设备本体；以及，
    控制处理器，设于所述设备本体上；
    其中，所述控制处理器用于：
    获取待清洁区域的格栅地图，并检测所述格栅地图与所述自移动设备的坐标系的方位匹配情况；
    当检测到所述格栅地图相对所述自移动设备的坐标系存在方位偏转时，获取所述格栅地图的偏转角度；
    根据得到的所述偏转角度，对所述格栅地图进行旋转使所述格栅地图与所述自移动设备的坐标系的方位一致。
PCT/CN2023/074698 2022-02-26 2023-02-07 移动方向纠偏方法、移动方向纠偏方法、系统及自移动机器人 WO2023160369A1 (zh)

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