CN114237218A - Indoor robot threshold area identification method and indoor robot - Google Patents
Indoor robot threshold area identification method and indoor robot Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention relates to an indoor robot threshold area identification method and an indoor robot. The method comprises the following steps: s101, the robot advances in an indoor area according to a preset advancing mode, map information and an inclination angle required by a subarea are synchronously acquired and stored in the advancing process, and the map information required by the subarea is used for the subarea of the indoor area; s102, partitioning an indoor area according to map information required by partitioning and acquiring a partitioning gap; s103, judging whether the inclination angle corresponding to the partition gap is larger than a preset inclination angle or not; and S104, if so, the partition gap is a threshold area. The method can identify the indoor doorsill area, provide reference for the path planning of the robot, and avoid the cross-doorsill riding condition of the robot.
Description
Technical Field
The invention relates to the field of indoor robots, in particular to a doorsill area identification method of an indoor robot and the indoor robot.
Background
The indoor robot mostly uses a wheel type traveling mode, the wheel type traveling mode has poor obstacle crossing capability, some doorsills in a room are higher than the ground, such as a bathroom doorsill or a kitchen doorsill, if a doorsill area is not distinguished from a ground area, the situation that the robot rides and travels on the doorsill when the robot travels to the doorsill area can be caused, and the robot is not favorable for traveling and operation.
Disclosure of Invention
The present invention provides a method for identifying a threshold region of an indoor robot and an indoor robot, which aim at the above-mentioned defects in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for identifying a doorsill area of an indoor robot is constructed, and comprises the following steps:
s101, the robot advances in an indoor area according to a preset advancing mode, map information and an inclination angle required by a subarea are synchronously acquired and stored in the advancing process, and the map information required by the subarea is used for the subarea of the indoor area;
s102, partitioning the indoor area according to the map information required by the partition and acquiring a partition gap;
s103, judging whether the inclination angle corresponding to the partition gap is larger than a preset inclination angle or not;
and S104, if so, the partition gap is a threshold area.
Further, in the method for identifying a doorsill area of an indoor robot according to the present invention, the step S101 of allowing the robot to travel in the indoor area according to a preset travel mode includes: the robot travels in the indoor area according to a preset traveling mode when traveling in the indoor area for the first time.
Further, in the method for identifying a doorsill area of an indoor robot according to the present invention, the robot is a sweeping robot, and the step S101 of moving the robot in the indoor area according to a preset moving manner includes: the sweeping robot moves in an indoor area according to a preset moving mode and synchronously performs sweeping operation.
Further, in the method for identifying the doorsill area of the indoor robot, the step of enabling the sweeping robot to travel in the indoor area according to a preset traveling mode and synchronously perform sweeping operation includes: the sweeping robot firstly travels in an indoor area according to a preset traveling mode and synchronously performs sweeping operation when traveling in the indoor area.
Further, in the method for identifying a doorsill area of an indoor robot according to the present invention, the tilt angle is obtained using an inertial sensor of the robot.
Further, in the method for identifying a doorsill area of an indoor robot according to the present invention, the step S103 includes: and judging whether the absolute value of the inclination angle corresponding to the partition notch is larger than a preset inclination angle.
Further, in the method for identifying a doorsill area of an indoor robot according to the present invention, after the step S104, the method further includes:
and S105, inwards contracting the boundary line of the partition corresponding to the threshold area in the partition by a preset distance.
Further, in the method for identifying a doorsill area of an indoor robot according to the present invention, after the step S105, the method further includes:
and S106, replanning the traveling path of the robot according to the adjusted partition boundary line.
In addition, the invention also provides an indoor robot threshold area identification method, which comprises the following steps:
s201, reading a partition gap of an indoor area stored in a memory of the robot;
s202, the robot moves to the position of the partition gap, and an inclination angle corresponding to the partition gap is obtained;
s203, judging whether the inclination angle corresponding to the partition gap is larger than a preset inclination angle;
and S204, if so, the partition gap is a threshold area.
Further, in the method for identifying a doorsill area of an indoor robot according to the present invention, the tilt angle is obtained using an inertial sensor of the robot.
Further, in the method for identifying a doorsill area of an indoor robot according to the present invention, the step S203 includes: and judging whether the absolute value of the inclination angle corresponding to the partition notch is larger than a preset inclination angle.
Further, in the method for identifying a doorsill area of an indoor robot according to the present invention, after step S204, the method further includes:
and S205, inwards contracting the boundary line of the partition corresponding to the threshold area in the partition by a preset distance.
Further, in the method for identifying a doorsill area of an indoor robot according to the present invention, after step S205, the method further includes:
and S206, replanning the traveling path of the robot according to the adjusted partition boundary line.
Further, in the method for identifying the doorsill area of the indoor robot, the robot is a sweeping robot.
In addition, the invention also provides an indoor robot, which comprises a processor and a memory, wherein the processor is connected with the memory;
the memory is used for storing a computer program;
the processor is used for executing the computer program stored in the memory to realize the method for identifying the threshold area of the indoor robot.
The method for identifying the doorsill area of the indoor robot and the indoor robot have the following beneficial effects: the method can identify the indoor doorsill area, provide reference for the path planning of the robot, and avoid the cross-doorsill riding condition of the robot.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a flowchart of a method for identifying a threshold area of an indoor robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of indoor area zoning provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of indoor zone partitioning according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for identifying a threshold area of an indoor robot according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for identifying a threshold area of an indoor robot according to an embodiment of the present invention;
fig. 6 is a flowchart of a method for identifying a threshold area of an indoor robot according to an embodiment of the present invention;
fig. 7 is a flowchart of a method for identifying a threshold area of an indoor robot according to an embodiment of the present invention;
fig. 8 is a flowchart of a method for identifying a threshold area of an indoor robot according to an embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
In a preferred embodiment, referring to fig. 1, 2 and 3, the method for identifying a threshold region of an indoor robot according to this embodiment is applied to an indoor robot, which is an intelligent mobile robot and can autonomously move and complete a certain task without manual control, such as a floor sweeping robot, a meal delivery robot, a transportation robot, a home service robot, a consultation service robot, an automatic vending robot, and the like. The indoor area in this embodiment includes, but is not limited to, an area having a closed space, such as a home indoor area, an office indoor area, and an indoor business place. Specifically, the method for identifying the doorsill area of the indoor robot comprises the following steps:
s101, the robot advances in an indoor area according to a preset advancing mode, map information and an inclination angle required by a subarea are synchronously acquired and stored in the advancing process, and the map information required by the subarea is used for the subarea of the indoor area. Specifically, in order to obtain an indoor map corresponding to an indoor area and partition the indoor map, the robot travels in the indoor area according to a preset traveling mode, wherein the preset traveling mode can be a zigzag path, and map information required by the partition is synchronously obtained and stored in the traveling process. Alternatively, the map information required for the partition may be acquired by a laser radar. Meanwhile, in order to determine a threshold area, a sensor group is used for acquiring and storing an inclination angle of the robot in the advancing process in an indoor area according to a preset advancing mode, wherein the inclination angle refers to the own inclination angle of the robot, namely the own inclination angle of the robot when the ground is uneven; for example, one part of the robot is on the door sill and the other part is on the ground. Alternatively, the present embodiment acquires the tilt angle using an inertial sensor of the robot.
And S102, partitioning the indoor area according to the map information required by the partition and acquiring a partition gap. Specifically, after the robot finishes traveling of the whole indoor area according to a preset traveling mode, map information required by all partitions stored in the memory is read, and a preset partition algorithm is used for processing the map information required by the partitions to obtain each partition of the indoor area and a partition notch corresponding to each partition, wherein the preset partition algorithm can refer to the prior art. For example, in fig. 2, 24 is a wall of an indoor area, 21 and 22 are two partitions, and 23 is a partition gap.
S103, judging whether the inclination angle corresponding to the subarea gap is larger than a preset inclination angle. Specifically, the partition and the partition gap are obtained, then the inclination angle corresponding to the partition gap stored in the memory is read, and whether the inclination angle corresponding to the partition gap is larger than a preset inclination angle is judged. And if the inclination angle corresponding to the partition gap is larger than the preset inclination angle, the partition gap with the inclination angle larger than the preset inclination angle is the threshold area. If the inclination angle corresponding to the partition notch is not larger than the preset inclination angle, the height difference between the partition notch with the inclination angle not larger than the preset inclination angle and the ground is small, the influence on the robot is small, and special treatment is not needed. Alternatively, the preset inclination angle is 5 degrees.
And S104, if the inclination angle corresponding to the partition notch is larger than the preset inclination angle, the partition notch with the inclination angle larger than the preset inclination angle is a threshold area. For example, in fig. 3, 24 is a wall of an indoor area, 21 and 22 are two partitions, and 25 is a threshold area.
The embodiment can identify the indoor doorsill area, provides reference for the robot path planning, and avoids the cross-doorsill riding condition of the robot.
In some embodiments of the method for identifying a threshold area of an indoor robot, the step S101 of allowing the robot to travel in the indoor area according to a preset travel mode includes: the robot travels in the indoor area according to a preset traveling mode when traveling in the indoor area for the first time.
In some embodiments of the method for identifying a doorsill area of an indoor robot, the robot is a sweeping robot, and the step S101 of traveling the robot in the indoor area according to a preset traveling mode includes: the sweeping robot moves in an indoor area according to a preset moving mode and synchronously performs sweeping operation.
In some embodiments of the method for identifying a doorsill area of an indoor robot, the step of enabling a sweeping robot to travel in an indoor area according to a preset travel mode and synchronously perform sweeping operation includes: the sweeping robot moves in the indoor area according to a preset moving mode when moving in the indoor area for the first time and carries out sweeping operation synchronously.
In some embodiments of the method for identifying a doorsill area of an indoor robot, when the sweeping robot moves between an upper doorsill and a lower doorsill, an inclination angle (pitch angle and roll angle) may be a positive value or a negative value. Step S103 includes: and judging whether the absolute value of the inclination angle corresponding to the subarea gap is larger than a preset inclination angle. And if the absolute value of the inclination angle corresponding to the subarea gap is larger than the preset inclination angle, the subarea gap with the inclination angle larger than the preset inclination angle is a threshold area. If the absolute value of the inclination angle corresponding to the partition notch is not greater than the preset inclination angle, the height difference between the partition notch with the inclination angle not greater than the preset inclination angle and the ground is small, the influence on the robot is small, and special treatment is not needed.
In the method for identifying a threshold region of an indoor robot according to some embodiments, with reference to fig. 3 and 4, after step S104, the method further includes:
and S105, inwards contracting the boundary line of the partition corresponding to the threshold region in the partition by a preset distance. Specifically, in order to avoid the situation that the robot rides across the threshold, the boundary line of the partition corresponding to the threshold area in the partition is retracted inwards by a preset distance, wherein the inward retraction refers to the inward retraction of the partition. The preset distance can be set according to needs, and the contracted boundary line of the subarea is not located in the threshold area.
In the method for identifying a threshold region of an indoor robot according to some embodiments, referring to fig. 5, after step S105, the method further includes:
and S106, replanning the traveling path of the robot according to the adjusted partition boundary line. Specifically, the adjusted boundary lines of the zones are stored in a memory of the robot, the corresponding zones are changed along with the change of the boundary lines of the zones, the robot needs to plan the traveling path of the robot again according to the adjusted boundary lines of the zones, and the situation that the robot rides across the threshold can be avoided.
In a preferred embodiment, referring to fig. 2, 3 and 6, the method for identifying a threshold region of an indoor robot in this embodiment is applied to an indoor robot, which is an intelligent mobile robot and can autonomously move and complete a certain task without manual control, such as a floor sweeping robot, a meal delivery robot, a transportation robot, a home service robot, a consultation service robot, an automatic vending robot, and the like. The indoor area in this embodiment includes, but is not limited to, an area having a closed space, such as a home indoor area, an office indoor area, and an indoor business place. Specifically, the method for identifying the doorsill area of the indoor robot comprises the following steps:
s201, reading a partition gap of an indoor area stored in a memory of the robot. Specifically, the robot obtains an indoor map of an indoor area, each partition, and a partition gap corresponding to each partition through the prior art, and reads the partition gap of the indoor area stored in the memory of the robot when the threshold area needs to be determined. For example, in fig. 2, 24 is a wall of an indoor area, 21 and 22 are two partitions, and 23 is a partition gap.
S202, the robot moves to the position of the partition gap, and the inclination angle corresponding to the partition gap is obtained. Specifically, after reading each partition gap of an indoor area stored in a memory of the robot, the robot plans a path to travel to each partition gap by itself, and obtains an inclination angle corresponding to the partition gap after reaching the partition gap. Alternatively, the tilt angle is acquired using an inertial sensor of the robot.
S203, judging whether the inclination angle corresponding to the subarea gap is larger than a preset inclination angle. Specifically, by means of judgment, if the inclination angle corresponding to the partition notch is greater than the preset inclination angle, the partition notch with the inclination angle greater than the preset inclination angle is the threshold area. If the inclination angle corresponding to the partition notch is not larger than the preset inclination angle, the height difference between the partition notch with the inclination angle not larger than the preset inclination angle and the ground is small, the influence on the robot is small, and special treatment is not needed. Alternatively, the preset inclination angle is 5 degrees.
S204, if the inclination angle corresponding to the partition gap is larger than the preset inclination angle, the partition gap is a threshold area. For example, in fig. 3, 24 is a wall of an indoor area, 21 and 22 are two partitions, and 25 is a threshold area.
The embodiment can identify the indoor doorsill area, provides reference for the robot path planning, and avoids the cross-doorsill riding condition of the robot.
In some embodiments of the method for identifying a threshold region of an indoor robot, the step S203 includes, in consideration that the threshold may be a pit: and judging whether the absolute value of the inclination angle corresponding to the subarea gap is larger than a preset inclination angle. And if the absolute value of the inclination angle corresponding to the subarea gap is larger than the preset inclination angle, the subarea gap with the inclination angle larger than the preset inclination angle is a threshold area. If the absolute value of the inclination angle corresponding to the partition notch is not greater than the preset inclination angle, the height difference between the partition notch with the inclination angle not greater than the preset inclination angle and the ground is small, the influence on the robot is small, and special treatment is not needed.
In the method for identifying a threshold region of an indoor robot according to some embodiments, with reference to fig. 7, after step S204, the method further includes:
s205, the boundary line of the partition corresponding to the threshold area in the partition is contracted inwards by a preset distance. Specifically, in order to avoid the situation that the robot rides across the threshold, the boundary line of the partition corresponding to the threshold area in the partition is retracted inwards by a preset distance, wherein the inward retraction refers to the inward retraction of the partition. The preset distance can be set according to needs, and the contracted boundary line of the subarea is not located in the threshold area.
In the method for identifying a threshold region of an indoor robot according to some embodiments, referring to fig. 8, after step S205, the method further includes:
and S206, replanning the traveling path of the robot according to the adjusted partition boundary line. Specifically, the adjusted boundary lines of the zones are stored in a memory of the robot, the corresponding zones are changed along with the change of the boundary lines of the zones, the robot needs to plan the traveling path of the robot again according to the adjusted boundary lines of the zones, and the situation that the robot rides across the threshold can be avoided.
In a preferred embodiment, the present embodiment further provides an indoor robot, which includes a processor and a memory, wherein the processor is connected to the memory. The memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory to realize the method for identifying the threshold area of the indoor robot. The indoor robot of this embodiment can discern indoor threshold region, provides the reference for robot path planning, avoids the robot to appear striding the threshold condition of riding.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (15)
1. A method for identifying a threshold area of an indoor robot is characterized by comprising the following steps:
s101, the robot advances in an indoor area according to a preset advancing mode, map information and an inclination angle required by a subarea are synchronously acquired and stored in the advancing process, and the map information required by the subarea is used for the subarea of the indoor area;
s102, partitioning the indoor area according to the map information required by the partition and acquiring a partition gap;
s103, judging whether the inclination angle corresponding to the partition gap is larger than a preset inclination angle or not;
and S104, if so, the partition gap is a threshold area.
2. The method for identifying the doorsill area of the indoor robot as claimed in claim 1, wherein the step S101 of the robot moving in the indoor area according to the predetermined moving manner comprises: the robot travels in the indoor area according to a preset traveling mode when traveling in the indoor area for the first time.
3. The method for identifying the doorsill area of an indoor robot as claimed in claim 1, wherein the robot is a sweeping robot, and the step S101 of traveling the robot in the indoor area according to a preset traveling mode comprises: the sweeping robot moves in an indoor area according to a preset moving mode and synchronously performs sweeping operation.
4. The method for identifying the doorsill area of the indoor robot as claimed in claim 3, wherein the step of enabling the sweeping robot to travel in the indoor area according to the preset traveling mode and synchronously perform the sweeping operation comprises the steps of: the sweeping robot firstly travels in an indoor area according to a preset traveling mode and synchronously performs sweeping operation when traveling in the indoor area.
5. The method of identifying a doorsill area of an indoor robot according to claim 1, wherein the tilt angle is acquired using an inertial sensor of the robot.
6. An indoor robot threshold region identification method according to claim 1, wherein the step S103 includes: and judging whether the absolute value of the inclination angle corresponding to the partition notch is larger than a preset inclination angle.
7. The method of identifying a doorsill area for an indoor robot of claim 1, further comprising, after the step S104:
and S105, inwards contracting the boundary line of the partition corresponding to the threshold area in the partition by a preset distance.
8. The method of identifying a doorsill area for an indoor robot of claim 7, further comprising, after the step S105:
and S106, replanning the traveling path of the robot according to the adjusted partition boundary line.
9. A method for identifying a threshold area of an indoor robot is characterized by comprising the following steps:
s201, reading a partition gap of an indoor area stored in a memory of the robot;
s202, the robot moves to the position of the partition gap, and an inclination angle corresponding to the partition gap is obtained;
s203, judging whether the inclination angle corresponding to the partition gap is larger than a preset inclination angle;
and S204, if so, the partition gap is a threshold area.
10. An indoor robot sill area identifying method according to claim 9, characterized in that the tilt angle is acquired using an inertial sensor of the robot.
11. An indoor robot threshold region identification method according to claim 9, wherein the step S203 comprises: and judging whether the absolute value of the inclination angle corresponding to the partition notch is larger than a preset inclination angle.
12. An indoor robot threshold region identification method as claimed in claim 9, further comprising, after step S204:
and S205, inwards contracting the boundary line of the partition corresponding to the threshold area in the partition by a preset distance.
13. An indoor robot threshold region identification method as claimed in claim 12, further comprising after step S205:
and S206, replanning the traveling path of the robot according to the adjusted partition boundary line.
14. An indoor robot threshold zone identification method as claimed in claim 9, wherein the robot is a sweeping robot.
15. An indoor robot is characterized by comprising a processor and a memory, wherein the processor is connected with the memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory to implement the method for identifying the doorsill area of an indoor robot as claimed in any one of claims 1 to 14.
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| CN112369982A (en) * | 2020-10-14 | 2021-02-19 | 深圳拓邦股份有限公司 | Threshold identification method and device, sweeping robot and storage medium |
| CN113503877A (en) * | 2021-06-22 | 2021-10-15 | 深圳拓邦股份有限公司 | Robot partition map establishing method and device and robot |
| CN113475978A (en) * | 2021-06-23 | 2021-10-08 | 深圳乐动机器人有限公司 | Robot recognition control method and device, robot and storage medium |
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