CN115542344A - Mobile air conditioner navigation method and device, mobile air conditioner and storage medium - Google Patents

Mobile air conditioner navigation method and device, mobile air conditioner and storage medium Download PDF

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Publication number
CN115542344A
CN115542344A CN202110747157.0A CN202110747157A CN115542344A CN 115542344 A CN115542344 A CN 115542344A CN 202110747157 A CN202110747157 A CN 202110747157A CN 115542344 A CN115542344 A CN 115542344A
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mobile air
air conditioner
laser radar
grid map
map
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平玉清
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GD Midea Air Conditioning Equipment Co Ltd
Guangzhou Hualing Refrigeration Equipment Co Ltd
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GD Midea Air Conditioning Equipment Co Ltd
Guangzhou Hualing Refrigeration Equipment Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar

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  • Computer Networks & Wireless Communication (AREA)
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  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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Abstract

The invention relates to the technical field of mobile air conditioners, and discloses a mobile air conditioner navigation method, a device, a mobile air conditioner and a storage medium, wherein a laser radar and a 3D image sensor are arranged on the mobile air conditioner, compared with the prior art that autonomous navigation is carried out only according to data collected by the laser radar, the mobile air conditioner navigation method and the device not only use the data collected by the laser radar, but also use the data collected by the 3D image sensor, respectively generate a first local grid map and a second local grid map according to the two data, combine the two grid maps to carry out mobile air conditioner navigation, and have more comprehensive collected data, thereby avoiding the situation that an object higher than or lower than the plane of the laser radar cannot be avoided when the mobile air conditioner is autonomously navigated, leading the navigation effect to be better, and improving the autonomous navigation capability of the mobile air conditioner.

Description

Mobile air conditioner navigation method and device, mobile air conditioner and storage medium
Technical Field
The invention relates to the technical field of mobile air conditioners, in particular to a mobile air conditioner navigation method and device, a mobile air conditioner and a storage medium.
Background
At present, 2D laser radar is mostly adopted for drawing and navigation of a household scene mobile robot, rich three-dimensional information of an actual scene cannot be obtained, and objects higher than or lower than a laser radar plane cannot be avoided during autonomous navigation.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a mobile air conditioner navigation method and device, a mobile air conditioner and a storage medium, and aims to solve the technical problem that an object higher than or lower than a laser radar plane cannot be avoided when the mobile air conditioner performs autonomous navigation in the prior art.
In order to achieve the aim, the invention provides a mobile air conditioner navigation method, which is applied to a mobile air conditioner, wherein the mobile air conditioner is provided with a laser radar and a 3D image sensor;
the navigation method of the mobile air conditioner comprises the following steps:
acquiring laser radar data acquired by a laser radar and three-dimensional point cloud data acquired by a 3D image sensor;
generating a first local grid map according to the laser radar data, and generating a second local grid map according to the three-dimensional point cloud data;
and carrying out mobile air conditioner navigation according to the first local grid map and the second local grid map.
Optionally, the generating a second local grid map from the three-dimensional point cloud data includes:
performing down-sampling processing on the three-dimensional point cloud data to reduce the number of point clouds in the three-dimensional point cloud data and obtain point cloud data to be processed;
and generating a second local grid map according to the point cloud data to be processed.
Optionally, the generating a second local grid map according to the point cloud data to be processed includes:
converting the point cloud data to be processed into two-dimensional data to be processed;
and carrying out mapping by a preset mapping algorithm according to the to-be-processed two-dimensional data to generate a second local grid map.
Optionally, the performing mobile air conditioner navigation according to the first partial grid map and the second partial grid map includes:
fusing the first local grid map and the second local grid map to obtain a fused local grid map;
generating a target map according to the fused local grid map;
and carrying out mobile air conditioner navigation based on the target map.
Optionally, a solid-state laser radar is further arranged on the mobile air conditioner;
the generating of the target map according to the fused local grid map comprises the following steps:
acquiring solid-state laser radar data acquired by the solid-state laser radar;
generating a local cost map according to the fused local grid map and the solid-state laser radar data;
and generating a target map according to the local cost map.
Optionally, the generating a local cost map according to the fused local grid map and the solid-state lidar data includes:
establishing a mobile air conditioner body coordinate system corresponding to the body of the mobile air conditioner;
establishing a solid-state laser radar coordinate system corresponding to the solid-state laser radar;
and generating a local cost map according to the mobile air conditioner body coordinate system, the solid-state laser radar coordinate system, the fused local grid map and the solid-state laser radar data.
Optionally, the generating a local cost map according to the mobile air conditioner body coordinate system, the solid-state lidar coordinate system, the fused local grid map, and the solid-state lidar data includes:
according to the geometrical relationship between the mobile air conditioner body coordinate system and the solid-state laser radar coordinate system, converting the solid-state laser radar data to the mobile air conditioner body coordinate system to obtain converted solid-state laser radar data;
and generating a local cost map according to the fused local grid map and the converted solid-state laser radar data.
In addition, in order to achieve the above object, the present invention further provides a mobile air conditioner navigation device, including:
the data acquisition module is used for acquiring laser radar data acquired by a laser radar and three-dimensional point cloud data acquired by a 3D image sensor;
the local map module is used for generating a first local grid map according to the laser radar data and generating a second local grid map according to the three-dimensional point cloud data;
and the air conditioner navigation module is used for carrying out mobile air conditioner navigation according to the first local grid map and the second local grid map.
In addition, in order to achieve the above object, the present invention further provides a mobile air conditioner, wherein the mobile air conditioner is provided with a laser radar and a 3D image sensor, and the mobile air conditioner includes: the mobile air conditioner navigation system comprises a memory, a processor and a mobile air conditioner navigation program which is stored on the memory and can run on the processor, wherein when the mobile air conditioner navigation program is executed by the processor, the mobile air conditioner navigation method is realized.
In addition, in order to achieve the above object, the present invention further provides a storage medium, where a mobile air conditioner navigation program is stored, and the mobile air conditioner navigation program, when executed by a processor, implements the mobile air conditioner navigation method as described above.
According to the mobile air conditioner navigation method, laser radar data acquired by a laser radar and three-dimensional point cloud data acquired by a 3D image sensor are acquired; generating a first local grid map according to the laser radar data, and generating a second local grid map according to the three-dimensional point cloud data; and carrying out mobile air conditioner navigation according to the first local grid map and the second local grid map. Compared with the prior art that autonomous navigation is carried out only according to data collected by a laser radar, the method and the device have the advantages that the data collected by the laser radar and the data collected by the 3D image sensor are used, the first local grid map and the second local grid map are respectively generated according to the two data, the two grid maps are combined to carry out mobile air conditioner navigation, the collected data are more comprehensive, the situation that an object higher than or lower than the plane of the laser radar cannot be avoided when the mobile air conditioner carries out autonomous navigation is avoided, the navigation effect is better, and the autonomous navigation capability of the mobile air conditioner is improved.
Drawings
Fig. 1 is a schematic diagram of a mobile air conditioner of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a navigation method of a mobile air conditioner according to a first embodiment of the present invention;
FIG. 3 is a front view of a mobile air conditioner according to the present invention;
FIG. 4 is a side view of a mobile air conditioner according to the present invention;
FIG. 5 is a front view of a modified mobile air conditioner according to an embodiment of the navigation method of the mobile air conditioner of the present invention;
FIG. 6 is a side view of a mobile air conditioner with improved navigation according to an embodiment of the present invention;
FIG. 7 is a flowchart illustrating a navigation method of a mobile air conditioner according to a second embodiment of the present invention;
FIG. 8 is a flowchart illustrating a navigation method of a mobile air conditioner according to a third embodiment of the present invention;
FIG. 9 is a fusion rule representation intention of an embodiment of a navigation method of a mobile air conditioner of the present invention;
FIG. 10 is a schematic fusion flow chart of a navigation method of a mobile air conditioner according to an embodiment of the present invention;
fig. 11 is a schematic diagram illustrating a relationship between a mobile air conditioner body coordinate system and a solid-state lidar coordinate system according to an embodiment of the mobile air conditioner navigation method of the invention;
FIG. 12 is a functional block diagram of a mobile air conditioning navigation device according to a first embodiment of the present invention.
The reference numbers illustrate:
reference numerals Name (R) Reference numerals Name(s)
100 Mobile air conditioner 200 Laser radar
300 3D image sensor 400 Solid state lidar
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a mobile air conditioner in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the mobile air conditioner may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may comprise a Display screen (Display), an input unit such as keys, and the optional user interface 1003 may also comprise a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The Memory 1005 may be a Random Access Memory (RAM) or a non-volatile Memory (e.g., a disk Memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 does not constitute a limitation of the mobile air conditioner, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a mobile air conditioner navigation program.
In the mobile air conditioner shown in fig. 1, the network interface 1004 is mainly used for connecting an external network and performing data communication with other network devices; the user interface 1003 is mainly used for connecting to a user equipment and performing data communication with the user equipment; the device calls a mobile air conditioner navigation program stored in the memory 1005 through the processor 1001 and executes the mobile air conditioner navigation method provided by the embodiment of the invention.
Based on the hardware structure, the embodiment of the navigation method of the mobile air conditioner is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a navigation method of a mobile air conditioner according to a first embodiment of the present invention.
In a first embodiment, the mobile air conditioner navigation method is applied to a mobile air conditioner, wherein a laser radar and a 3D image sensor are arranged on the mobile air conditioner;
the navigation method of the mobile air conditioner comprises the following steps:
and S10, acquiring laser radar data acquired by a laser radar and three-dimensional point cloud data acquired by a 3D image sensor.
It should be noted that the execution main body of the embodiment may be a controller of a mobile air conditioner, where the mobile air conditioner may be a mobile air conditioner, and may also be other devices that can achieve the same or similar functions.
It should be noted that, in consideration of cost and setting requirements, the lidar arranged on the mobile air conditioner used in a general household scene is a 2D lidar, and this lidar can only detect objects on a plane, but cannot detect objects higher than or lower than the plane of the lidar, so that the mobile air conditioner cannot avoid objects higher than or lower than the plane of the lidar during autonomous navigation, and the mobile air conditioner may touch the objects higher than or lower than the plane of the lidar, which may not only cause damage to the mobile air conditioner, but also damage objects in a room, and affect the use experience of a user.
In a specific implementation, as shown in fig. 3 and 4, fig. 3 is a front view of an existing mobile air conditioner, fig. 4 is a side view of the existing mobile air conditioner, a laser radar 300 is disposed on the mobile air conditioner 100, and in a using process, the laser radar 300 can emit light ray3, and an object on the plane of the laser radar is detected through ray 3. If there is an object higher or lower than the ray3, the lidar cannot detect the object, for example, the object a in fig. 4 is higher than the ray3, so the ray3 cannot detect the object a, in this case, if the mobile air conditioner is controlled to continue to travel forward, the mobile air conditioner may collide with the object a, which may cause damage to the mobile air conditioner or the object a.
In order to solve the above problem, the mobile air conditioner in this embodiment is further provided with a 3D image sensor in addition to the lidar, so that data collected by the lidar and the 3D image sensor are fused to perform autonomous navigation of the mobile air conditioner, thereby effectively preventing the mobile air conditioner from touching an indoor object. The 3D image sensor may be a 3D Time of flight (TOF) sensor, and may also be other devices capable of implementing the same or similar functions.
In a specific implementation, as shown in fig. 5 and 6, fig. 5 is a front view of a modified mobile air conditioner, fig. 6 is a side view of the modified mobile air conditioner, and the mobile air conditioner 100 is provided with a 3D image sensor 200 in addition to a laser radar 300. The laser radar 300 and the 3D image sensor 200 may be a part of the mobile air conditioner 100, or may be separate components disposed on a surface of the mobile air conditioner 100, which is not limited in this embodiment. The laser radar 300 and the 3D image sensor 200 may transmit the data collected by each of the laser radar 300 and the 3D image sensor to the controller of the mobile air conditioner 100 in a wired connection or a wireless connection manner, and the controller performs map planning and autonomous navigation.
It should be understood that, as shown in fig. 6, the 3D TOF sensor does not work on the same principle as the lidar, and unlike the lidar which can only detect the presence of an object on a plane, the 3D TOF sensor detects an object within the range formed by the ray1 and the ray2, so that an object above or below the plane of the lidar can be detected by the 3D TOF sensor.
It can be understood that due to the structural construction and operational principle differences between lidar and 3D TOF sensors, the lidar collects 2D lidar data, while the 3D TOF sensor collects three-dimensional point cloud data. Therefore, when a map is built, 2D laser radar data collected by a laser radar and three-dimensional point cloud data collected by a 3D TOF sensor can be respectively obtained.
And S20, generating a first local grid map according to the laser radar data, and generating a second local grid map according to the three-dimensional point cloud data.
It should be understood that for a home scene, the environment is relatively complex, and actual environment information cannot be sufficiently obtained only by using a 2D lidar, the scheme proposes to adopt a multi-sensor technology to construct a map, which includes a grid map and a cost map. And when the grid map is established, a 2D laser radar and a 3DTOF sensor are adopted to construct a map by data fusion. The fusion mode is divided into three types, including data layer fusion, feature fusion and decision layer fusion, and in this embodiment, decision layer fusion is adopted, that is, graph building and re-fusion are performed respectively.
Thus, a first partial grid map and a second partial grid map may be generated from the lidar data and the three-dimensional point cloud data, respectively. The first local grid map is a local grid map generated according to data collected by the 2D laser radar, and the second local grid map is a local grid map generated according to data collected by the 3D TOF sensor.
The manner in which the first partial grid map is generated may be: after the 2D laser radar data collected by the 2D laser radar is obtained, a grid map can be established by using an open source algorithm mapping on the basis of the obtained 2D laser radar data, and the established grid map is used as a first local grid map.
The manner of generating the second local grid map may be: after the three-dimensional point cloud data acquired by the 3DTOF sensor is acquired, the three-dimensional point cloud data can be converted into to-be-processed two-dimensional data, a grid map can be established by using an open source algorithm mapping on the basis of the acquired to-be-processed two-dimensional data, and the established grid map is used as a second local grid map.
And step S30, carrying out mobile air conditioner navigation according to the first local grid map and the second local grid map.
It should be appreciated that after the first partial grid map and the second partial grid map are generated, the two grid maps may be fused for autonomous navigation of the mobile air conditioner. Compared with the autonomous navigation method in the prior art, the autonomous navigation method only carries out autonomous navigation according to the data collected by the laser radar, the data collected in the embodiment are more comprehensive, the navigation effect is better, and the autonomous navigation capability of the mobile air conditioner is improved.
It should be noted that the mobile air conditioner needs two maps in the actual navigation process, and the map is initially built through the slam algorithm, so that a grid map is obtained, but the effect of completing the autonomous navigation of the robot by using the map is not very good, the grid map (called static map) can be matched with various sensors to update the grid map in real time on the basis of the grid map, and the map combined with the grid map and the sensor data is called a cost map. The cost map is divided into a global cost map and a local cost map, the local cost map needs to be updated at a certain frequency to detect objects which appear suddenly around the mobile air conditioner, and the global cost map is updated once during initialization. The cost in the cost map is divided into three types, occupied, idle and unknown. Wherein only the trellis is passable by idle costs, and other costs are not considered to be enterable in path planning.
Therefore, in this embodiment, in order to achieve a better autonomous navigation effect, the first local grid map and the second local grid map may be fused, and then the fused map is updated according to data of each sensor to obtain a cost map, and then navigation is performed based on the obtained cost map. In addition, navigation may be performed according to the first partial grid map and the second partial grid map in other manners, which is not limited in this embodiment.
In this embodiment, compare in only carrying out autonomous navigation according to the data that laser radar gathered among the prior art, the data that laser radar gathered has not only been used in this embodiment, the data that 3D image sensor gathered has still been used, first local grid map and second local grid map are generated respectively according to these two kinds of data, combine these two kinds of grid maps and carry out the mobile air conditioner navigation, the data of gathering are more comprehensive, when having avoided the mobile air conditioner at autonomous navigation, can't avoid the condition of being higher than or being less than the planar object of laser radar, make the navigation effect better, the autonomous navigation ability of mobile air conditioner has been promoted.
In an embodiment, as shown in fig. 7, a second embodiment of the navigation method for a mobile air conditioner according to the present invention is proposed based on the first embodiment, and the step S20 includes:
step S201, a first local grid map is generated according to the laser radar data, and the three-dimensional point cloud data is subjected to down-sampling processing so as to reduce the number of point clouds in the three-dimensional point cloud data and obtain point cloud data to be processed.
It should be understood that, since the data collected by the 3D TOF sensor is different from the data collected by the 2D lidar, the three-dimensional point cloud data collected by the 3D TOF sensor cannot be mapped directly as the 2D lidar data, and therefore, the three-dimensional point cloud data can be firstly subjected to format conversion and then mapped by using the converted data.
It can be understood that, because the three-dimensional point cloud data acquired by the 3D TOF contains abundant environmental information, in order to avoid influence of excessive environmental information on the map building, feature extraction operation may be performed on the three-dimensional point cloud data, and downsampling processing may be performed to reduce the number of point clouds in the three-dimensional point cloud data, and then the processed point cloud data is referred to as point cloud data to be processed.
And S202, generating a second local grid map according to the point cloud data to be processed.
It should be noted that after the point cloud data to be processed is obtained in the above manner, the point cloud data may be converted into two-dimensional data to be processed through a preset conversion algorithm, and then a second local grid map is generated according to the obtained two-dimensional data to be processed through a preset map building algorithm. The preset conversion algorithm may be an open source algorithm software package pointclosed _ to _ laser, the preset mapping algorithm may be an open source algorithm gmapping, the to-be-processed two-dimensional data may be data having the same format as the 2D laser radar data, in addition, the algorithm may be other algorithms for realizing the same function, and the data may also be other similar data, which is not limited in this embodiment.
In specific implementation, the point cloud data to be processed can be converted into two-dimensional data to be processed with the same format as that of the 2D laser radar data through an open source algorithm software package pointclosed _ to _ laser, and then a map is built according to the two-dimensional data to be processed through a mapping algorithm to obtain a second local grid map.
In the embodiment, the mode of reducing the point cloud number in the three-dimensional point cloud data through down-sampling the three-dimensional point cloud data is used for avoiding the influence of excessive environmental information on mapping, then the three-dimensional point cloud data to be processed is converted, the two-dimensional data to be processed, which can be mapped by a user, is obtained to generate the second local grid map, mapping can be performed according to the data acquired by the 3D TOF sensor, the subsequent local grid map fusion is realized, the comprehensiveness of information detection is improved, and the map generated in the mode also enables the autonomous navigation of the mobile air conditioner to be more practical.
In an embodiment, as shown in fig. 8, a third embodiment of the navigation method of the mobile air conditioner of the present invention is proposed based on the first embodiment or the second embodiment, and in this embodiment, the description is made based on the first embodiment, and the step S30 includes:
step S301, fusing the first local grid map and the second local grid map to obtain a fused local grid map.
It should be understood that, in this embodiment, the two-dimensional grid map of the environment is finally obtained by respectively establishing grid maps using data acquired by the 2D lidar and the 3D TOF sensor and then performing fusion of the maps, that is, a first local grid map and a second local grid map are respectively created according to the lidar data and the three-dimensional point cloud data, and then the two local grid maps are fused to obtain a local grid map of the environment.
In a specific implementation, as shown in fig. 9 and 10, fig. 9 is a fusion rule representation intention, the first partial grid map and the second partial grid map may be fused according to the fusion rule in fig. 9, fig. 10 is a fusion flow diagram, and a diagram and a fusion may be created according to the fusion flow in fig. 10.
And step S302, generating a target map according to the fused local grid map.
It should be understood that after the two local grid maps are fused to obtain the fused local grid map, the 2D lidar data acquired by the 2D lidar and the three-dimensional point cloud data acquired by the 3D TOF sensor may be combined with the fused local grid map to obtain a local cost map, and then the target map for autonomous navigation is generated according to the local cost map.
Further, since it is difficult for both the 2D lidar and the 3D TOF sensor to accurately detect short objects in a home environment, in order to detect these short objects, the mobile air conditioner is further provided with a solid-state lidar, and the step S302 includes:
acquiring solid-state laser radar data acquired by the solid-state laser radar; generating a local cost map according to the fused local grid map and the solid-state laser radar data; and generating a target map according to the local cost map.
It should be noted that, as shown in fig. 5 and fig. 6, a solid-state lidar 400 may be further disposed on the mobile air conditioner 100, and the solid-state lidar detects a short object through a ray 4. The number of the solid-state lidar 400 may be one, two, or other numbers, which is not limited in this embodiment, and in this embodiment, two solid-state radars are taken as an example for description. The solid-state lidar 400 may be a part of the mobile air conditioner 100, or may be a separate component disposed on a surface of the mobile air conditioner 100, which is not limited in this embodiment. The solid-state lidar 400 may transmit the acquired data to the controller of the mobile air conditioner 100 in a wired connection or wireless connection manner, and the controller performs map planning and autonomous navigation, and in addition to the above two manners, the solid-state lidar 400 may also transmit the acquired data to the controller of the mobile air conditioner 100 in other manners, which is not limited in this embodiment.
It should be understood that the cost map is built on the basis of a fused grid map, and because it is used in actual navigation, environmental information covering the entire height range of the mobile air conditioner is needed. The 2D laser radar and the 3D TOF sensor basically cover the environmental information within the height range of the mobile air conditioner, and for short objects on the ground, such as electric wires, slippers and other objects which are difficult to detect, the short objects can be detected and updated into a local map by adopting the solid-state laser radar.
It should be noted that in actual navigation, a cost map is used, that is, the grid cost value in the local map is updated in real time on top of the static grid map. In this embodiment, a local cost map may be generated by combining the fused local grid map with one or more data collected by the three sensors. Therefore, in addition to generating the local cost map according to the fused local grid map and the solid-state lidar data, the method can also comprise the following steps: and combining data acquired by the 2D laser radar and the 3D TOF sensor into a local cost map, namely generating the local cost map according to the fused local grid map, the 2D laser radar data, the three-dimensional point cloud data and the solid-state laser radar data. Also can be: and generating a local cost map according to the fused local grid map, the 2D laser radar data and the three-dimensional point cloud data, and updating the local cost map according to the solid-state laser radar data to obtain an updated local cost map. The present embodiment is not limited in this regard, and other ways are possible.
It should be appreciated that in order to incorporate the sensor data into the local grid map to generate the local cost map, coordinate systems of three sensor coordinate systems may be established, and then each sensor data is transformed into the coordinate system of the fused local grid map through coordinate system rotation transformation. Since the principles of establishing the coordinate system and data conversion by the three sensors are the same, in this embodiment, a solid-state lidar is taken as an example for description, and the principles of establishing the coordinate system and data conversion by the solid-state lidar are described below, while the principles of the 2D lidar and the 3D TOF sensor are the same, and are not described again in this embodiment.
Further, in order to blend data collected by the solid-state lidar into a local grid map, the generating a local cost map according to the fused local grid map and the solid-state lidar data includes:
establishing a mobile air conditioner body coordinate system corresponding to the body of the mobile air conditioner; establishing a solid-state laser radar coordinate system corresponding to the solid-state laser radar; converting the solid-state laser radar data to the mobile air conditioner body coordinate system according to the geometric relation between the mobile air conditioner body coordinate system and the solid-state laser radar coordinate system to obtain the converted solid-state laser radar data; and generating a local cost map according to the fused local grid map and the converted solid-state laser radar data.
It should be understood that, a first solid-state laser radar may be referred to as a solid-state laser radar 1, a second solid-state laser radar may be referred to as a solid-state laser radar 2, and coordinate systems corresponding to the two solid-state laser radars are respectively established, so that a coordinate system of the solid-state laser radar 1 is gt1, a coordinate system of the solid-state laser radar 2 is gt2, an x direction of the solid-state laser radar is a forward direction of the machine, a coordinate system of the mobile air conditioner body is a base, and an x direction of the base is a forward direction of the mobile air conditioner.
In a specific implementation, as shown in fig. 11, fig. 11 is a schematic diagram of a relationship between a mobile air conditioner body coordinate system and a solid-state lidar coordinate system. In order to establish a two-dimensional grid cost map, the data of the solid-state laser radar can be converted into a mobile air conditioner body coordinate system, and the process is as follows:
assuming a mobile air conditioner body coordinate system (O) B X B Y B Z B ) Coordinate system (O) of solid-state lidar G X G Y G Z G ). Coordinates (X) in the solid-state lidar coordinate system for an obstacle point P in the environment G ,Y G ,Z G ). The geometric relationship between the mobile air conditioner body coordinate system and the solid-state laser radar coordinate system can be expressed as follows:
Figure BDA0003142433790000121
and R is a rotation matrix of the solid laser radar reaching the mobile air conditioner body coordinate system, and T is a translation matrix of the solid laser radar reaching the mobile air conditioner body coordinate system. The range of the local cost map is rotated 2m x 2m, the current position of the mobile air conditioner is used as an original point to be established, and the local cost map is updated in real time along with navigation of the mobile air conditioner. And updating the idle grids by using a bresenham algorithm in the updating process, and assigning the barrier grid cost detected by the sensor as occupation.
And step S303, carrying out mobile air conditioner navigation based on the target map.
It can be understood that after the data of each sensor is combined into the local grid map to obtain the local cost map, a target map for autonomous navigation can be generated according to the local cost map, then autonomous navigation of the mobile air conditioner is carried out based on the target map, a scheme with higher cost performance is adopted, the mobile air conditioner is perceived to build a map in the whole scene information, and the mobile air conditioner can realize autonomous navigation in a household complex scene by adopting a mode of updating the cost map by using a solid state laser radar for detecting short objects in the household environment.
In this embodiment, survey the short object in ground through solid-state laser radar, can combine solid-state laser radar data and 2D laser radar and 3D TOF sensor data of gathering, update the local grid map after fusing jointly to obtain local cost map, and then generate the autonomous navigation that the target map is used for mobile air conditioner, improved mobile air conditioner's autonomous navigation ability, also avoided it to touch short object under the domestic environment.
In addition, an embodiment of the present invention further provides a storage medium, where a mobile air conditioner navigation program is stored on the storage medium, and when executed by a processor, the mobile air conditioner navigation program implements the steps of the mobile air conditioner navigation method described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
In addition, referring to fig. 12, an embodiment of the present invention further provides a mobile air conditioner navigation device, where the mobile air conditioner navigation device includes:
and the data acquisition module 10 is used for acquiring laser radar data acquired by a laser radar and three-dimensional point cloud data acquired by a 3D image sensor.
It should be noted that, in consideration of cost and setting requirements, the lidar arranged on the mobile air conditioner used in a general household scene is a 2D lidar, and this lidar can only detect objects on a plane, but cannot detect objects higher than or lower than the plane of the lidar, so that the mobile air conditioner cannot avoid objects higher than or lower than the plane of the lidar during autonomous navigation, and the mobile air conditioner may touch the objects higher than or lower than the plane of the lidar, which may not only cause damage to the mobile air conditioner, but also damage objects in a room, and affect the use experience of a user.
In a specific implementation, as shown in fig. 3 and 4, fig. 3 is a front view of an existing mobile air conditioner, fig. 4 is a side view of the existing mobile air conditioner, a laser radar 300 is disposed on the mobile air conditioner 100, and in a using process, the laser radar 300 can emit light ray3, and an object on the plane of the laser radar is detected through ray 3. If there is an object higher or lower than the ray3, the lidar cannot detect the object, for example, the object a in fig. 4 is higher than the ray3, so the ray3 cannot detect the object a, in this case, if the mobile air conditioner is controlled to continue to travel forward, the mobile air conditioner may collide with the object a, which may cause damage to the mobile air conditioner or the object a.
In order to solve the above problem, the mobile air conditioner in this embodiment is further provided with a 3D image sensor in addition to the lidar, so that data collected by the lidar and the 3D image sensor are fused to perform autonomous navigation of the mobile air conditioner, thereby effectively preventing the mobile air conditioner from touching an indoor object. The 3D image sensor may be a 3D Time of flight (TOF) sensor, and may also be other devices capable of realizing the same or similar functions, which is not limited in this embodiment, and in this embodiment, the 3D image sensor is taken as the 3D TOF sensor for example.
In a specific implementation, as shown in fig. 5 and 6, fig. 5 is a front view of a modified mobile air conditioner, fig. 6 is a side view of the modified mobile air conditioner, and the mobile air conditioner 100 is provided with a 3D image sensor 200 in addition to a laser radar 300. The laser radar 300 and the 3D image sensor 200 may be a part of the mobile air conditioner 100, or may be separate components disposed on the surface of the mobile air conditioner 100, which is not limited in this embodiment. The laser radar 300 and the 3D image sensor 200 may transmit the data collected by each to the controller of the mobile air conditioner 100 in a wired connection or a wireless connection manner, and the controller performs map planning and autonomous navigation, and in addition to the two manners, the laser radar 300 and the 3D image sensor may also transmit the data collected by each to the controller of the mobile air conditioner 100 in other manners, which is not limited in this embodiment.
It should be understood that, as shown in fig. 6, the 3D TOF sensor does not work on the same principle as the lidar, and unlike the lidar which can only detect objects on a plane, the 3D TOF sensor detects objects within the range formed by the ray1 and the ray2, so that objects above or below the plane of the lidar can be detected by the 3D TOF sensor.
It can be understood that due to the structural construction and operational principle differences between lidar and 3D TOF sensors, the lidar collects 2D lidar data, while the 3D TOF sensor collects three-dimensional point cloud data. Therefore, when a map is built, 2D laser radar data collected by a laser radar and three-dimensional point cloud data collected by a 3D TOF sensor can be respectively obtained.
And the local map module 20 is configured to generate a first local grid map according to the laser radar data, and generate a second local grid map according to the three-dimensional point cloud data.
It should be understood that for a home scene, the environment is relatively complex, and actual environment information cannot be sufficiently obtained only by using a 2D lidar, the scheme proposes to adopt a multi-sensor technology to construct a map, which includes a grid map and a cost map. And when the grid map is established, a 2D laser radar and a 3DTOF sensor are adopted to construct a map by data fusion. The fusion modes are divided into three types, including data layer fusion, feature fusion and decision layer fusion, and in this embodiment, decision layer fusion is adopted, that is, graph building and re-fusion are performed respectively.
Thus, a first partial grid map and a second partial grid map may be generated from the lidar data and the three-dimensional point cloud data, respectively. The first local grid map is a local grid map generated according to data collected by the 2D laser radar, and the second local grid map is a local grid map generated according to data collected by the 3D TOF sensor.
The manner in which the first partial grid map is generated may be: after the 2D laser radar data collected by the 2D laser radar is obtained, a grid map can be established by using an open source algorithm mapping on the basis of the obtained 2D laser radar data, and the established grid map is used as a first local grid map.
The manner of generating the second local grid map may be: after the three-dimensional point cloud data acquired by the 3DTOF sensor is acquired, the three-dimensional point cloud data can be converted into to-be-processed two-dimensional data, a grid map can be established by using an open source algorithm mapping on the basis of the acquired to-be-processed two-dimensional data, and the established grid map is used as a second local grid map.
And the air conditioner navigation module 30 is used for performing mobile air conditioner navigation according to the first local grid map and the second local grid map.
It should be appreciated that after the first partial grid map and the second partial grid map are generated, the two grid maps may be fused for autonomous navigation of the mobile air conditioner. Compared with the autonomous navigation method in the prior art, the autonomous navigation method only carries out autonomous navigation according to the data collected by the laser radar, the data collected in the embodiment are more comprehensive, the navigation effect is better, and the autonomous navigation capability of the mobile air conditioner is improved.
It should be noted that the mobile air conditioner needs two maps in the actual navigation process, and the map is initially built through the slam algorithm, so that a grid map is obtained, but the effect of completing the autonomous navigation of the robot by using the map is not very good, the grid map (called static map) can be matched with various sensors to update the grid map in real time on the basis of the grid map, and the map combined with the grid map and the sensor data is called a cost map. The cost map is divided into a global cost map and a local cost map, the local cost map needs to be updated at a certain frequency to detect objects suddenly appearing around the mobile air conditioner, and the global cost map is updated once during initialization. The cost in the cost map is divided into three types, namely occupation, idle and unknown. Wherein only the trellis is passable by idle costs, and other costs are not considered to be enterable in path planning.
Therefore, in this embodiment, in order to achieve a better autonomous navigation effect, the first local grid map and the second local grid map may be fused, and then the fused map is updated according to data of each sensor to obtain a cost map, and then navigation is performed based on the obtained cost map. In addition, navigation may be performed according to the first partial grid map and the second partial grid map in other manners, which is not limited in this embodiment.
In this embodiment, compare in only carrying out autonomous navigation according to the data that laser radar gathered among the prior art, the data that laser radar gathered has not only been used in this embodiment, the data that 3D image sensor gathered has still been used, first local grid map and second local grid map are generated respectively according to these two kinds of data, combine these two kinds of grid maps and carry out the mobile air conditioner navigation, the data of gathering are more comprehensive, when having avoided the mobile air conditioner at autonomous navigation, can't avoid the condition of being higher than or being less than the planar object of laser radar, make the navigation effect better, the autonomous navigation ability of mobile air conditioner has been promoted.
In other embodiments or specific implementation methods of the mobile air conditioner navigation device according to the present invention, reference may be made to the above method embodiments, which are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) readable by an estimator, and includes instructions for enabling a smart device (e.g. a mobile phone, an estimator, a mobile air conditioner, or a network mobile air conditioner) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A mobile air conditioner navigation method is characterized in that the mobile air conditioner navigation method is applied to a mobile air conditioner, and a laser radar and a 3D image sensor are arranged on the mobile air conditioner;
the navigation method of the mobile air conditioner comprises the following steps:
acquiring laser radar data acquired by a laser radar and three-dimensional point cloud data acquired by a 3D image sensor;
generating a first local grid map according to the laser radar data, and generating a second local grid map according to the three-dimensional point cloud data; and
and carrying out mobile air conditioner navigation according to the first local grid map and the second local grid map.
2. The mobile air conditioner navigation method of claim 1, wherein the generating a second local grid map from the three-dimensional point cloud data comprises:
performing down-sampling processing on the three-dimensional point cloud data to reduce the number of point clouds in the three-dimensional point cloud data and obtain point cloud data to be processed; and
and generating a second local grid map according to the point cloud data to be processed.
3. The mobile air conditioner navigation method of claim 2, wherein the generating a second local grid map from the point cloud data to be processed comprises:
converting the point cloud data to be processed into two-dimensional data to be processed; and
and carrying out mapping by a preset mapping algorithm according to the to-be-processed two-dimensional data to generate a second local grid map.
4. The mobile air-conditioning navigation method of any one of claims 1 to 3, wherein the mobile air-conditioning navigation according to the first partial grid map and the second partial grid map comprises:
fusing the first local grid map and the second local grid map to obtain a fused local grid map;
generating a target map according to the fused local grid map; and
and carrying out mobile air conditioner navigation based on the target map.
5. The mobile air conditioner navigation method of claim 4, wherein the mobile air conditioner is further provided with a solid state laser radar;
the generating of the target map according to the fused local grid map comprises the following steps:
acquiring solid-state laser radar data acquired by the solid-state laser radar;
generating a local cost map according to the fused local grid map and the solid-state laser radar data; and
and generating a target map according to the local cost map.
6. The mobile air-conditioning navigation method of claim 5, wherein the generating a local cost map from the fused local grid map and the solid-state lidar data comprises:
establishing a mobile air conditioner body coordinate system corresponding to the body of the mobile air conditioner;
establishing a solid-state laser radar coordinate system corresponding to the solid-state laser radar; and
and generating a local cost map according to the mobile air conditioner body coordinate system, the solid-state laser radar coordinate system, the fused local grid map and the solid-state laser radar data.
7. The mobile air conditioning navigation method of claim 6, wherein the generating a local cost map from the mobile air conditioning body coordinate system, the solid state lidar coordinate system, the fused local grid map, and the solid state lidar data comprises:
converting the solid-state laser radar data to the mobile air conditioner body coordinate system according to the geometric relation between the mobile air conditioner body coordinate system and the solid-state laser radar coordinate system to obtain the converted solid-state laser radar data; and
and generating a local cost map according to the fused local grid map and the converted solid-state laser radar data.
8. A mobile air conditioning navigation device, characterized in that the mobile air conditioning navigation device comprises:
the data acquisition module is used for acquiring laser radar data acquired by a laser radar and three-dimensional point cloud data acquired by a 3D image sensor;
the local map module is used for generating a first local grid map according to the laser radar data and generating a second local grid map according to the three-dimensional point cloud data;
and the air conditioner navigation module is used for carrying out mobile air conditioner navigation according to the first local grid map and the second local grid map.
9. The utility model provides a mobile air conditioner which characterized in that, last lidar and the 3D image sensor of being provided with of mobile air conditioner, mobile air conditioner includes: the mobile air conditioner navigation system comprises a memory, a processor and a mobile air conditioner navigation program stored on the memory and capable of running on the processor, wherein the mobile air conditioner navigation program realizes the mobile air conditioner navigation method according to any one of claims 1 to 7 when being executed by the processor.
10. A storage medium, wherein the storage medium stores thereon a mobile air conditioner navigation program, and the mobile air conditioner navigation program, when executed by a processor, implements the mobile air conditioner navigation method according to any one of claims 1 to 7.
CN202110747157.0A 2021-06-30 2021-06-30 Mobile air conditioner navigation method and device, mobile air conditioner and storage medium Pending CN115542344A (en)

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