WO2021031427A1 - 扫地机器人及扫地机器人的自动控制方法 - Google Patents

扫地机器人及扫地机器人的自动控制方法 Download PDF

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Publication number
WO2021031427A1
WO2021031427A1 PCT/CN2019/120427 CN2019120427W WO2021031427A1 WO 2021031427 A1 WO2021031427 A1 WO 2021031427A1 CN 2019120427 W CN2019120427 W CN 2019120427W WO 2021031427 A1 WO2021031427 A1 WO 2021031427A1
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WIPO (PCT)
Prior art keywords
obstacle
component
sweeping robot
type
image acquisition
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/120427
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English (en)
French (fr)
Inventor
沈锣坤
吴军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhuichuang Technology Suzhou Co Ltd
Original Assignee
Zhuichuang Technology Suzhou Co Ltd
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Filing date
Publication date
Application filed by Zhuichuang Technology Suzhou Co Ltd filed Critical Zhuichuang Technology Suzhou Co Ltd
Priority to JP2022511048A priority Critical patent/JP2022546289A/ja
Priority to KR1020227009296A priority patent/KR20220051370A/ko
Priority to US17/637,070 priority patent/US20220287533A1/en
Priority to EP19942174.4A priority patent/EP4014829A4/en
Publication of WO2021031427A1 publication Critical patent/WO2021031427A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G05D1/0231—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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • 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
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing

Definitions

  • the application relates to a sweeping robot and an automatic control method of the sweeping robot, belonging to the technical field of automatic cleaning.
  • sweeping robots In the process of working, sweeping robots usually use sensors to sense obstacles in front. When the sensor senses that there is an obstacle in front of a certain distance, the sweeping robot moves backward and moves in another direction; when the sensor senses that there is no obstacle ahead, sweep the floor The robot will always move forward and perform cleaning operations. For example: sensing obstacles through ultrasonic and infrared proximity sensors.
  • the sweeping environment of the sweeping robot is complex, and the obstacles in front of the sweeping robot may be diverse, such as: wires, corners, table and chair legs, carpets, etc., because the sweeping robot adopts obstacle avoidance strategies for different obstacles, therefore, Will cause the problem of poor cleaning effect.
  • the present application provides a sweeping robot and an automatic control method of the sweeping robot; it can solve the problem that the existing sweeping robot uniformly adopts an obstacle avoidance strategy when detecting an obstacle, resulting in poor cleaning effect.
  • This application provides the following technical solutions:
  • a sweeping robot in a first aspect, includes:
  • processing component is used for:
  • the distance between the projection point and the target image acquisition component is determined based on the triangulation method, and the target acquisition component is the projected image of the projection point.
  • Image acquisition component For each projection point projected on the obstacle, the distance between the projection point and the target image acquisition component is determined based on the triangulation method, and the target acquisition component is the projected image of the projection point.
  • the contour information of the obstacle is determined based on the three-dimensional coordinates of the multiple projection points on the obstacle.
  • the image acquisition component includes a lens and an imaging component;
  • the laser emission component includes a laser emission head;
  • the processing component For each projection point projected on the obstacle, the processing component is used to:
  • the first line being the line between the target laser emitting component and the projection point
  • the second line being the target laser
  • the distance between the projection point and the target image acquisition component is calculated according to the preset distance, the included angle, the focal length, and the imaging position.
  • the multiple projection points on the obstacle include:
  • a plurality of laser emitting components project laser light onto the obstacle to generate a plurality of projection points; and/or,
  • the same laser emitting component projects laser light onto multiple projection points on multiple surfaces of the obstacle; and/or,
  • the laser emitting component projects the laser from different angles to multiple projection points on the obstacle.
  • processing component is used for:
  • the obstacle type is a coil type or a wire type, controlling the sweeping robot to enter an obstacle avoidance mode
  • the obstacle type is a columnar type, planning a traversable route to control the sweeping robot to traverse the obstacle;
  • the obstacle type is a negative corner type
  • the obstacle type is a positive angle type, controlling the sweeping robot to sweep along the edge of the positive angle;
  • the obstacle type is a threshold type
  • the suction force of the fan on the sweeping robot is controlled to increase, and/or the mopping and water spray function is stopped.
  • different laser emitting components emit the same or different laser angles.
  • the lens in the image acquisition component is a direct shot lens, a panoramic reflective lens, a partially reflective lens or a periscope lens.
  • an automatic control method of a cleaning robot which is used in the cleaning robot provided in the first aspect, and the method includes:
  • the acquiring contour information of the obstacle includes:
  • the distance between the projection point and the target image acquisition component is determined based on the triangulation method, and the target acquisition component is the projected image of the projection point.
  • Image acquisition component For each projection point projected on the obstacle, the distance between the projection point and the target image acquisition component is determined based on the triangulation method, and the target acquisition component is the projected image of the projection point.
  • the contour information of the obstacle is determined based on the three-dimensional coordinates of the multiple projection points on the obstacle.
  • determining the distance between the projection point and the target image acquisition component based on a triangulation ranging method includes:
  • the first line being the line between the target laser emitting component and the projection point
  • the second line being the target laser
  • the distance between the projection point and the target image acquisition component is calculated according to the preset distance, the included angle, the focal length, and the imaging position.
  • controlling the cleaning robot to clean according to the cleaning mode corresponding to the obstacle type includes:
  • the obstacle type is a coil type or a wire type, controlling the sweeping robot to enter an obstacle avoidance mode
  • the obstacle type is a columnar type, planning a traversable route to control the sweeping robot to traverse the obstacle;
  • the obstacle type is a female corner type
  • the obstacle type is a positive angle type, controlling the sweeping robot to sweep along the edge of the positive angle;
  • the obstacle type is a threshold type
  • the suction force of the fan on the sweeping robot is controlled to increase, and/or the mopping and water spray function is stopped.
  • a computer-readable storage medium is provided, and a program is stored in the storage medium, and the program is loaded and executed by the processor to implement the automatic control method of the cleaning robot described in the second aspect.
  • the beneficial effects of the present application are: through at least one laser emitting assembly arranged on the housing; at least one image acquisition assembly arranged on the housing; processing components connected to each laser emitter and each image acquisition device, The processing component acquires the target image collected by the image acquisition component; when there is a projection image of the projection point of the laser projected on the obstacle in the target image, it acquires the contour information of the obstacle; determines the type of obstacle indicated by the contour information; controls the sweeping robot Clean according to the cleaning mode corresponding to the obstacle type; it can solve the problem that the existing sweeping robot adopts the obstacle avoidance strategy when detecting the obstacle, which leads to the poor cleaning effect; because the sweeping robot can use different types according to different obstacle types In the cleaning mode, instead of performing obstacle avoidance without cleaning, the cleaning effect of the sweeping robot can be improved.
  • Fig. 1 is a schematic structural diagram of a sweeping robot provided by an embodiment of the present application
  • FIG. 2 is a schematic diagram of laser light emitted by a laser emitting component provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of laser light emitted by a laser emitting component provided by another embodiment of the present application.
  • Fig. 4 is a schematic structural diagram of an image acquisition component provided by an embodiment of the present application.
  • Fig. 5 is a schematic diagram of a lens in an image acquisition component provided by an embodiment of the present application.
  • Fig. 6 is a schematic diagram of a lens in an image acquisition component provided by another embodiment of the present application.
  • FIG. 7 is a schematic diagram of a lens in an image acquisition component provided by another embodiment of the present application.
  • FIG. 8 is a schematic diagram of a lens in an image acquisition component provided by another embodiment of the present application.
  • FIG. 9 is a schematic diagram of the positional relationship between the image acquisition component and the laser emission component provided by an embodiment of the present application.
  • FIG. 10 is a schematic diagram of the positional relationship between the image acquisition component and the laser emission component provided by another embodiment of the present application.
  • FIG. 11 is a schematic diagram of the positional relationship between the image acquisition component and the laser emission component provided by another embodiment of the present application.
  • FIG. 12 is a schematic diagram of the positional relationship between the image acquisition component and the laser emission component provided by another embodiment of the present application.
  • FIG. 13 is a schematic diagram of measuring the distance of a transmission point based on a triangulation ranging method according to an embodiment of the present application
  • Fig. 14 is a flowchart of an automatic control method of a cleaning robot provided by an embodiment of the present application.
  • Figure 1 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present application. As shown in Figure 1, the cleaning robot at least includes:
  • a processing component 140 (not shown in FIG. 1) connected to each laser transmitter 120 and each image acquisition device 130, the processing component 140 is used to acquire the target image collected by the image acquisition component 130; there is laser in the target image When projecting the projection image of the projection point on the obstacle, obtain the contour information of the obstacle; determine the obstacle type indicated by the contour information; control the sweeping robot to clean according to the cleaning mode corresponding to the obstacle type.
  • the traveling direction may be the direction in which the cleaning robot is traveling. For example, if the cleaning robot moves backward, the traveling direction of the cleaning robot is backward; or, the traveling direction may also be the direction in which the cleaning robot in a stationary state is about to travel.
  • the laser emitting component 120 may be a helium-neon laser, an argon ion laser, a gallium arsenide semiconductor laser, etc.
  • the type of the laser emitting component 120 is not limited in this embodiment.
  • the laser light projected by the laser emitting component 120 is a laser beam (or called a linear laser).
  • the laser beam irradiates a 180-degree horizontal range in front of the sweeping robot, so that all obstacles in the left, middle, and right range in front of the sweeping robot can be detected, and the detection range is more comprehensive.
  • the laser beam can detect obstacles in the middle and lower positions in the numerical direction, so that obstacles on the ground and with a low height can also be detected, such as door sills, carpet edges, steps, and floor tile gaps.
  • the laser light emitted by the laser emitting component 120 can be parallel to the horizontal plane (refer to the laser emitted by the laser emitting component A in FIG. 2), and perpendicular (refer to the laser emitting component B in FIG. 2).
  • the angle of the laser light emitted by the laser emitting component 120 is not limited in this embodiment.
  • each laser emitting component 120 emits the laser at the same angle, and the emitted laser is parallel to the horizontal plane;
  • Group of laser emitting components 120 each laser emitting component 120 emits laser at the same angle, and the emitted laser is perpendicular to the horizontal plane;
  • the third group of laser emitting components 120 the first laser emitting component and the third laser emitting component emit lasers The angle is the same (the laser is perpendicular to the horizontal plane), but is different from the angle of the second laser emitting component (the laser is horizontal to the horizontal plane);
  • the fourth group of laser emitting components 120 the first laser emitting component and the second laser emitting component The angle of laser emission is different from the third laser emission component.
  • Each laser emitting assembly 120 includes a laser emitting head that emits laser light.
  • the laser emitting component 120 also includes other components required in the laser emitting process, such as a laser generating component, a photon acceleration component, etc., which will not be repeated here in this embodiment.
  • the image acquisition component 130 may be a miniature video camera, a camera, etc., and this embodiment does not limit the type of the image acquisition component 130.
  • the image capturing component 130 includes a lens 131 and an imaging component 132.
  • the lens 131 includes but is not limited to the following types: a direct shot lens, a panoramic reflective lens, a partially reflective lens, or a periscope lens.
  • a direct lens refers to a lens that supports the direct incidence of light
  • a panoramic reflective lens refers to a lens in which light from different angles is incident after one reflection
  • a partially reflective lens refers to a specified angle
  • the ray of light enters the lens after one reflection
  • the periscope lens refers to the lens that the light enters after at least two reflections.
  • a band-pass filter 133 is provided on the lens 131, and the band-pass filter 133 makes the image capturing component 130 visible only to the laser light emitted by the laser emitting component 120.
  • the imaging component 132 may be a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS) sensor; or a charge coupled device (Charge Coupled Device, CCD), etc.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD Charge Coupled Device
  • the number of image acquisition components 130 is one or more.
  • the image capturing component 130 and the laser emitting component 120 are both arranged on the side of the housing 110.
  • the image acquisition component 130 can be located above the laser emission component 120; or, it can also be located below the laser emission component 120; or, the image acquisition component 130 and the laser emission component 120 are alternately arranged on the same horizontal plane.
  • the arrangement of the laser emitting components 120 is limited.
  • the number of the laser emitting component 120 and the image capturing component 130 is one, the image capturing component 130 and the laser emitting component 120 are both arranged on the side of the housing 110, and the laser emitting component 120 is arranged Right above the image acquisition component 130.
  • the number of laser emitting components 120 is two, and the number of image capturing components 130 is one. Both the image capturing component 130 and the laser emitting component 120 are arranged on the side of the housing 110. The emission component 120 is arranged on the upper left of the image acquisition component 130, and the other laser emission component 120 is arranged on the upper right of the image acquisition component 130.
  • the number of laser emitting components 120 is three, and the number of image capturing components 130 is one. Both the image capturing component 130 and the laser emitting component 120 are arranged on the side of the housing 110.
  • the first One laser emitting component 120 is arranged at the upper left of the image acquisition component 130, the second laser emitting component 120 is arranged directly above the image acquisition component 130, and the third laser emitting component 120 is arranged at the upper right of the image acquisition component 130.
  • the number of laser emitting components 120 is three, and the number of image capturing components 130 is two.
  • the image capturing components 130 and the laser emitting components 120 are both arranged on the side of the housing 110.
  • the three laser emitting components 120 are arranged above the two image capturing components 130.
  • the laser emitting component 120 and the image capturing component 130 work under the control of the processing component 140.
  • the processing component 140 controls the laser emitting component 120 to emit laser light.
  • the image acquisition component 130 collects
  • the target image includes the projection image of the projection point.
  • the processing component 140 acquires the target image collected by the image acquisition component 130, and performs image analysis according to the projection image in the target image to obtain the distance of the obstacle.
  • the target image collected by the image acquisition component 130 does not include the projection point Projected image.
  • the processing component 140 controls the multiple laser emitting components 120 to turn on sequentially for a certain period of time.
  • the number of laser emitting components 120 is 2
  • the processing component 140 controls the first laser emitting component 120 to turn on first
  • the turn-on time reaches 0.5s
  • it controls the first laser emitting component 120 to turn off and turn on the second laser.
  • the emitting component 120 when the second laser emitting component 120 is turned on for 0.5 s, the second laser emitting component 120 is controlled to turn off and then the first laser emitting component 120 to turn on, and so on.
  • the processing component 140 divides the multiple laser emitting components 120 into multiple groups, and controls the laser emitting components 120 of the multiple groups to turn on for a certain period of time respectively.
  • the number of groups of laser emitting components 120 is 2 (each group includes 2 laser emitting components)
  • the processing component 140 controls the first group of laser emitting components 120 to turn on first, and when the turn-on time reaches 0.5s, the first group is controlled
  • the laser emitting component 120 turns off and turns on the second group of laser emitting components 120.
  • the second group of laser emitting components 120 is turned on for 0.5s, the second group of laser emitting components 120 are controlled to turn off and then the first group of laser emitting components 120 to turn on , And so on.
  • the processing component 140 acquires contour information of the obstacle, including: for each projection point projected on the obstacle, based on triangulation
  • the distance method determines the distance between the projection point and the target image acquisition component; the three-dimensional coordinates of the projection point relative to the target image acquisition component are determined according to the distance between the projection point and the target image acquisition component; the three-dimensional coordinates based on multiple projection points on the obstacle
  • the coordinates determine the contour information of the obstacle.
  • the target collection component is an image collection component that collects the projection image of the projection point.
  • the image acquisition component includes a lens and an imaging component;
  • the laser emitting component includes a laser emitting head; for each projection point projected on the obstacle.
  • the processing component determines the distance between the projection point and the target image acquisition component based on the triangulation method, including: acquiring the laser emitting head and the target image of the target laser emitting component of the projected projection point The preset distance between the lenses of the acquisition component; acquire the angle between the first line and the second line; acquire the focal length of the target image acquisition component; acquire the imaging position of the projected image on the imaging component; based on the principle of similar triangles Calculate the distance between the projection point and the target image acquisition component according to the preset distance, included angle, focal length and imaging position.
  • the first connection line is the connection line between the target laser emitting component and the projection point
  • the second connection line is the connection line between the laser emitting head of the target laser emitting component and the lens of the target image acquisition component.
  • the laser emitting head and the lens of the target image acquisition component are on the second connection line, and the preset distance is s; the focal length of the image acquisition component 130 is f; The angle between the first line and the second line is ⁇ .
  • the imaging position of the projected image on the imaging assembly is P.
  • a similar triangle can be made by geometric knowledge.
  • the laser emitting head, the lens and the projection point form a triangle, which is similar to the triangle formed by the lens, P and the auxiliary point P'.
  • pixel Size is the pixel unit size
  • position is the position of the pixel coordinates of the projected image relative to the imaging center.
  • q can be calculated from the above formula.
  • d q/sin ⁇ .
  • the distance between the projection point and the target image acquisition component can be calculated according to d, s, and ⁇ .
  • the processing component 140 may determine the three-dimensional coordinates of the projection point based on the position of the target acquisition component, and then determine the contour information of the obstacle according to the three-dimensional coordinates of the multiple projection points.
  • the multiple projection points on the obstacle include but are not limited to at least one of the following: multiple laser emitting components project laser light onto the obstacle to generate multiple projection points; the same The laser emitting component projects the laser to multiple projection points on multiple surfaces of the obstacle; after the sweeping robot drives the same laser emitting component to move, the laser emitting component projects the laser from different angles to multiple projection points on the obstacle.
  • the processing component 140 determines the type of obstacle indicated by the contour information, including: comparing the contour information of the obstacle with the characteristic information of various types of obstacles; and corresponding the characteristic information matching the contour information of the obstacle
  • the obstacle type is determined as the obstacle type indicated by the contour information.
  • the obstacle type is determined according to the obstacle encountered during the working process of the sweeping robot.
  • the obstacle types include but are not limited to at least one of the following types: coil type, wire type, column type, internal corner type, external corner type, threshold type, carpet edge, gap type, etc.
  • the processing component 140 controls the cleaning robot to clean according to the cleaning mode corresponding to the obstacle type, including: controlling the cleaning robot to enter the obstacle avoidance mode when the obstacle type is a coil type or a wire type; when the obstacle type is a columnar type When type, plan a traversable route to control the sweeping robot to cross obstacles; when the obstacle type is a negative angle type, control the side brush on the sweeping robot to clean the negative corner with a specific motion mode; when the obstacle type is a positive angle type When the obstacle type is threshold type, determine whether the robot can climb the current threshold type obstacle; when the obstacle type is carpet edge or gap type, control the floor cleaning robot The suction power of the fan on the machine increases, and/or stops the mopping and water spray function.
  • the specific motion mode of the side brush may be n reciprocating jitter, and n is a positive integer.
  • the mopping water spray function is stopped; if the fan suction power of the sweeping robot is not reached If the maximum value and the mopping water spray function is turned on, the suction power of the fan is increased and the mopping water spray function is stopped; if the fan suction of the sweeping robot does not reach the maximum value and the mopping water spray function is turned off, the fan suction power is increased.
  • the columnar obstacles may be table legs, chair legs, sofa legs, etc., and this embodiment does not limit the columnar obstacles.
  • the above-mentioned obstacle types and corresponding cleaning modes are only illustrative.
  • the obstacle types can also correspond to other cleaning modes, and the corresponding relationship between the obstacle types and the cleaning modes can be set in the sweeping robot by default. ; Or, it can also be set by the user, this implementation does not limit the setting method of the correspondence between the obstacle type and the cleaning mode.
  • the sweeping robot provided in this embodiment adopts at least one laser emitting assembly provided on the housing; at least one image acquisition assembly provided on the housing; and each laser emitter and each image acquisition device Connected processing components, the processing component obtains the target image collected by the image acquisition component; when there is a projection image of the projection point of the laser projected on the obstacle in the target image, the contour information of the obstacle is obtained; the obstacle indicated by the contour information is determined Object type; control the sweeping robot to clean according to the cleaning mode corresponding to the obstacle type; it can solve the problem that the existing sweeping robot adopts the obstacle avoidance strategy when detecting the obstacle, resulting in poor cleaning effect; because the sweeping robot can be based on different Obstacle types adopt different cleaning modes, instead of avoiding obstacles without cleaning, therefore, the cleaning effect of the sweeping robot can be improved.
  • FIG. 14 is a flowchart of an automatic control method of a cleaning robot provided by an embodiment of the present application.
  • the method is applied to the cleaning robot shown in the foregoing embodiment, and the execution subject of each step is the cleaning robot.
  • the processing component 140 is described as an example. The method includes at least the following steps:
  • Step 1401 Obtain the target image collected by the image collection component.
  • the processing component periodically reads the target image collected by the image acquisition component; or, every time the image acquisition component captures a target image, the target image is sent to the processing component.
  • Step 1402 When there is a projection image of the projection point projected by the laser onto the obstacle in the target image, obtain contour information of the obstacle.
  • the distance between the projection point and the target image acquisition component is determined based on the triangulation method, and the target acquisition component is the image acquisition component that collects the projection image of the projection point;
  • the three-dimensional coordinates of the projection point relative to the target image acquisition component are determined according to the distance between the projection point and the target image acquisition component;
  • the contour information of the obstacle is determined based on the three-dimensional coordinates of multiple projection points on the obstacle.
  • the distance between the projection point and the target image acquisition component is determined based on the triangulation ranging method, including: obtaining the laser emitting head of the target laser emitting component of the projected projection point and the target image
  • the connection line between the laser emitting head of the laser emitting component and the lens of the target image acquisition component obtain the focal length of the target image acquisition component; obtain the imaging position of the projected image on the imaging component; based on the principle of similar triangles, according to the preset distance, clamp
  • the angle, focal length, and imaging position calculate the distance between the projection point and the target image capture component.
  • Step 1403 Determine the obstacle type indicated by the contour information.
  • the processing component compares the contour information of the obstacle with the characteristic information of various types of obstacles; determines the obstacle type corresponding to the characteristic information that matches the contour information of the obstacle as the obstacle indicated by the contour information Types of.
  • Step 1404 Control the sweeping robot to clean according to the cleaning mode corresponding to the obstacle type.
  • the obstacle type is coil type or wire type
  • control the sweeping robot to enter the obstacle avoidance mode
  • when the obstacle type is columnar type, plan a traversable route to control the sweeping robot to cross the obstacle
  • in the obstacle type When it is a female corner type, control the side brush on the robot vacuum to start cleaning the female corner in a specific working mode
  • when the obstacle type is a male corner type, control the robot vacuum to sweep along the edge of the male corner
  • the obstacle type is In the case of the threshold type, determine whether the sweeping robot can climb the obstacle of the current threshold type
  • when the obstacle type is the edge of the carpet or the gap type, the suction force of the fan on the sweeping robot is controlled to increase.
  • the automatic control method of the sweeping robot acquires the target image collected by the image acquisition component; when there is a projection image of the projection point of the laser projected on the obstacle in the target image, the obstacle is acquired Contour information; determine the type of obstacle indicated by the contour information; control the sweeping robot to clean according to the cleaning mode corresponding to the obstacle type; it can solve the problem that the existing sweeping robot adopts the obstacle avoidance strategy when the obstacle is detected, resulting in poor cleaning effect The problem; because the sweeping robot can adopt different cleaning modes according to different obstacle types, instead of avoiding obstacles without cleaning, the sweeping effect of the sweeping robot can be improved.
  • the present application also provides a computer-readable storage medium in which a program is stored, and the program is loaded and executed by the processor to implement the automatic control method of the sweeping robot in the above method embodiment .
  • the present application also provides a computer product, which includes a computer-readable storage medium in which a program is stored, and the program is loaded and executed by a processor to implement the foregoing method embodiments Automatic control method of the sweeping robot.

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Abstract

一种扫地机器人及扫地机器人的自动控制方法，属于自动清洁技术领域，扫地机器人包括：设置于壳体（110）上的至少一个激光发射组件（120）和至少一个图像采集组件（130）；与每个激光发射组件（120）和每个图像采集组件（130）相连的处理组件（140），处理组件（140）用于获取图像采集组件（130）采集到的目标图像；在目标图像中存在激光投射到障碍物上的投影点的投影图像时，获取障碍物的轮廓信息；确定轮廓信息指示的障碍物类型；控制扫地机器人按照障碍物类型对应的清扫模式进行清扫；可以解决现有的扫地机器人检测到障碍物时统一采用避障策略，导致清扫效果不佳的问题；由于扫地机器人可以根据不同的障碍物类型采用不同的清扫模式而不是均进行避障不清扫，可以提高扫地机器人的清扫效果。

Description

扫地机器人及扫地机器人的自动控制方法 技术领域
本申请涉及一种扫地机器人及扫地机器人的自动控制方法，属于自动清洁技术领域。
背景技术
随着计算机技术的发展，各种具有自动移动功能的智能设备随之出现，如扫地机器人等。
扫地机器人在工作的过程中，通常采用传感器感知前方的障碍物，当传感器感知前方一定距离有障碍物，扫地机器人则向后退，并且朝另外一个方向移动；当传感器感知前方没有障碍物时，扫地机器人将一直向前移动，并进行清扫操作。比如：通过超声波和红外接近传感器感知障碍物。
然而，扫地机器人的扫地环境复杂，扫地机器人前方的障碍物可能多种多样，比如：电线、墙角、桌椅腿、地毯等，由于对于不同的障碍物扫地机器人均采用避障策略移动，因此，会导致清扫效果不佳的问题。
发明内容
本申请提供了一种扫地机器人及扫地机器人的自动控制方法；可以解决现有的扫地机器人检测到障碍物时统一采用避障策略，导致清扫效果不佳的问题。本申请提供如下技术方案：
第一方面，提供了一种扫地机器人，所述扫地机器人包括：
壳体；
设置于所述壳体上的至少一个激光发射组件，每个激光发射组件用于向行进方向投射激光；
设置于所述壳体上的至少一个图像采集组件，每个图像采集组件用于采集所述行进方向的目标图像；
与每个激光发射器和每个图像采集装置相连的处理组件，所述处理组件用于获取所述图像采集组件采集到的目标图像；在所述目标图像中存在激光投射到障碍物上的投影点的投影图像时，获取所述障碍物的轮廓信息；确定所述轮廓信息指示的障碍物类型；控制所述扫地机器人按照所述障碍物类型对应的清扫模式进行清扫。
可选地，所述处理组件，用于：
对于每个投射到所述障碍物上的投影点，基于三角测距法确定所述投影点与目标图像采集组件之间的距离，所述目标采集组件为采集到所述投影点的投影图像的图像采集组件；
根据所述投影点与所述目标图像采集组件之间的距离确定所述投影点相对所述目标图像采集组件的三维坐标；
基于所述障碍物上的多个投影点的三维坐标确定所述障碍物的轮廓信息。
可选地，所述图像采集组件包括镜头和成像组件；所述激光发射组件包括激光发射头；
对于每个投射到所述障碍物上的投影点，所述处理组件，用于：
获取投射所述投影点的目标激光发射组件的激光发射头与所述目标图像采集组件的镜头之间的预设距离；
获取第一连线与第二连线之间的夹角，所述第一连线为所述目标激光发射组件与所述投影点之前的连线，所述第二连线为所述目标激光发射组件的激光发射头与所述目标图像采集组件的镜头之间的连线；
获取所述目标图像采集组件的焦距；
获取所述投影图像在所述成像组件上的成像位置；
基于相似三角形原理，根据所述预设距离、所述夹角、所述焦距和所述成像位置计算所述投影点与目标图像采集组件之间的距离。
可选地，所述障碍物上的多个投影点，包括：
多个激光发射组件将激光投射至所述障碍物上的产生多个投影点；和/或，
同一激光发射组件将激光投射至所述障碍物多个表面上产生的多个投影点；和/或，
所述扫地机器人带动同一激光发射组件移动后，所述激光发射组件将激光从不同角度投射至所述障碍物上产生的多个投影点。
可选地，所述处理组件，用于：
在所述障碍物类型为线团类型或者电线类型时，控制所述扫地机器人进入避障模式；
在所述障碍物类型为柱状类型时，规划可穿越路线以控制所述扫地机器人穿越所述障碍物；
在所述障碍物类型为阴角类型时，控制所述扫地机器人上的边刷以特定运动模式对阴角进行清扫；
在所述障碍物类型为阳角类型时，控制所述扫地机器人沿阳角的边缘清扫；
在所述障碍物类型为门槛类型时，确定所述扫地机器人是否可攀越当前门槛类型的障碍物；
在所述障碍物类型为地毯边沿或者缝隙类型时，控制所述扫地机器人上的风扇吸力增大，和/或停止拖地喷水功能。
可选地，不同的激光发射组件的发射的激光角度相同或者不同。
可选地，所述图像采集组件中的镜头为直射式镜头、全景反射式镜头、部分反射式镜头或潜望式镜头。
第二方面，提供了一种扫地机器人的自动控制方法，用于第一方面提供的扫地机器人中，所述方法包括：
获取图像采集组件采集到的目标图像；
在目标图像中存在激光投射到障碍物上的投影点的投影图像时，获取所述障碍物的轮廓信息；
确定所述轮廓信息指示的障碍物类型；
控制所述扫地机器人按照所述障碍物类型对应的清扫模式进行清扫。
可选地，所述获取所述障碍物的轮廓信息，包括：
对于每个投射到所述障碍物上的投影点，基于三角测距法确定所述投影点与目标图像采集组件之间的距离，所述目标采集组件为采集到所述投影点的投影图像的图像采集组件；
根据所述投影点与所述目标图像采集组件之间的距离确定所述投影点相对所述目标图像采集组件的三维坐标；
基于所述障碍物上的多个投影点的三维坐标确定所述障碍物的轮廓信息。
可选地，所述对于每个投射到所述障碍物上的投影点，基于三角测距法确定所述投影点与目标图像采集组件之间的距离，包括：
获取投射所述投影点的目标激光发射组件的激光发射头与所述目标图像采集组件的镜头之间的预设距离；
获取第一连线与第二连线之间的夹角，所述第一连线为所述目标激光发射组件与所述投影点之前的连线，所述第二连线为所述目标激光发射组件的激光发射头与所述目标图像采集组件的镜头之间的连线；
获取所述目标图像采集组件的焦距；
获取所述投影图像在所述成像组件上的成像位置；
基于相似三角形原理，根据所述预设距离、所述夹角、所述焦距和所述成像位置计算所述投影点与目标图像采集组件之间的距离。
可选地，所述控制所述扫地机器人按照所述障碍物类型对应的清扫模式进行清扫，包括：
在所述障碍物类型为线团类型或者电线类型时，控制所述扫地机器人进入避障模式；
在所述障碍物类型为柱状类型时，规划可穿越路线以控制所述扫地机器人穿越所述障碍物；
在所述障碍物类型为阴角类型时，控制所述扫地机器人上的边刷启动以特定运动模式对阴角进行清扫；
在所述障碍物类型为阳角类型时，控制所述扫地机器人沿阳角的边缘清扫；
在所述障碍物类型为门槛类型时，确定所述扫地机器人是否可攀越当前门槛类型的障碍物；
在所述障碍物类型为地毯边沿或者缝隙类型时，控制所述扫地机器人上的风扇吸力增大，和/或停止拖地喷水功能。
第三方面，提供一种计算机可读存储介质，所述存储介质中存储有程序，所述程序由所述处理器加载并执行以实现第二方面所述的扫地机器人的自动控制方法。
本申请的有益效果在于：通过设置于壳体上的至少一个激光发射组件；设置于壳体上的至少一个图像采集组件；与每个激光发射器和每个图像采集装置相连的处理组件，由处理组件获取图像采集组件采集到的目标图像；在目标图像中存在激光投射到障碍物上的投影点的投影图像时，获取障碍物的轮廓信息；确定轮廓信息指示的障碍物类型；控制扫地机器人按照障碍物类型对应的清扫模式进行清扫；可以解决现有的扫地机器人检测到障碍物时统一采用避障策略，导致清扫效果不佳的问题；由于扫地机器人可以根据不同的障碍物类型采用不同的清扫模式，而不是均进行避障不清扫，因此，可以提高扫地机器人的清扫效果。
上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，并可依照说明书的内容予以实施，以下以本申请的较佳实施例并配合附图详细说明如后。
附图说明
图1是本申请一个实施例提供的扫地机器人的结构示意图；
图2是本申请一个实施例提供的激光发射组件发射的激光的示意图；
图3是本申请另一个实施例提供的激光发射组件发射的激光的示意图；
图4是本申请一个实施例提供的图像采集组件的结构示意图；
图5是本申请一个实施例提供的图像采集组件中镜头的示意图；
图6是本申请另一个实施例提供的图像采集组件中镜头的示意图；
图7是本申请另一个实施例提供的图像采集组件中镜头的示意图；
图8是本申请另一个实施例提供的图像采集组件中镜头的示意图；
图9是本申请一个实施例提供的图像采集组件与激光发射组件之间位置关系的示意图；
图10是本申请另一个实施例提供的图像采集组件与激光发射组件之间位置关系的示意图；
图11是本申请另一个实施例提供的图像采集组件与激光发射组件之间位置关系的示意图；
图12是本申请另一个实施例提供的图像采集组件与激光发射组件之间位置关系的示意图；
图13是本申请一个实施例提供的基于三角测距法测量透射点的距离的示意图；
图14是本申请一个实施例提供的扫地机器人的自动控制方法的流程图。
具体实施方式
下面结合附图和实施例，对本申请的具体实施方式作进一步详细描述。以下实施例用于说明本申请，但不用来限制本申请的范围。
需要说明的是，结合附图所阐述的详细描述旨在作为对各种配置的描述，而不旨在表示其中可以实践本文所描述的概念的唯一配置。本文中所记载的装置实施例和方法实施例将在下面的详细描述中进行描述，并在附图中通过各种框、模块、单元、组件、电路、步骤、过程、算法等等(统称为“要素”)来予以示出。这些要素可以使用电子硬件、计算机软件或者其任意组合来实现。至于这些要素是实现为硬件还是软件，取决于特定应用和施加在整体系统上的设计约束。本申请的说明书和权利要求书以及说明书附图中的术语如果使用“第一”、“第二”等描述，该种描述是用于区别不同对象，而不是用于描述特定顺序。
应当理解，当在本说明书和所附权利要求书中使用时，术语“包括”和“包含”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除 一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。还应当理解，在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。还应当进一步理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
需要说明的是，在没有明示的特别说明的情况下，本申请各实施例中的各项技术特征可视为能够进行相互组合或者结合，只要该种组合或者结合不是因为技术的原因而无法实施。为了较为充分的说明本申请，一些示例性的，可选地，或者优选的特征在本申请各实施例中与其他技术特征结合在一起进行描述，但这种结合不是必须的，而应该理解该示例性的，可选地，或者优选的特征与其他的技术特征都是彼此可分离的或者独立的，只要该种可分离或者独立不是因为技术的原因而无法实施。方法实施例中的技术特征的一些功能性描述可以理解为执行该功能、方法或者步骤，装置实施例中的技术特征的一些功能性描述可以理解为使用该种装置来执行该功能、方法或者步骤。
图1是本申请一个实施例提供的扫地机器人的结构示意图，如图1所示，该扫地机器人至少包括：
壳体110；
设置于壳体110上的至少一个激光发射组件120，每个激光发射组件120用于向行进方向投射激光；
设置于壳体110上的至少一个图像采集组件130，每个图像采集组件130用于采集行进方向的目标图像；
与每个激光发射器120和每个图像采集装置130相连的处理组件140(图1中未示出)，处理组件140用于获取图像采集组件130采集到的目标图像；在目标图像中存在激光投射到障碍物上的投影点的投影图像时，获取障碍物的轮廓 信息；确定轮廓信息指示的障碍物类型；控制扫地机器人按照障碍物类型对应的清扫模式进行清扫。
其中，行进方向可以是扫地机器人正在行进的方向，比如：扫地机器人向后方移动，则该扫地机器人的行进方向为向后；或者，行进方向还可以是处于静止状态的扫地机器人即将行进的方向。
可选地，激光发射组件120可以是氦氖激光器、氩离子激光器、砷化镓半导体激光器等，本实施例不对激光发射组件120的类型作限定。激光发射组件120投射的激光为激光束(或称线状激光)。
可选地，激光束将扫地机器人前方180度水平范围内都照射到，使扫地机器人前方左、中、右范围内的障碍物都能够检测到，检测范围更全面。激光束可是实现数值方向上处于中、下位置的障碍物的检测，使位于地面上且具有较低高度的障碍物也可以被检测到，例如，门槛、地毯边缘、台阶、地砖缝隙等。
可选地，激光发射组件120可以是一个或者多个。对于每个激光发射组件120，该激光发射组件120发射出的激光可以与水平面平行(参考图2中的激光发射组件A发射出的激光)、垂直(参考图2中的激光发射组件B发射出的激光)、或者相交参考图2中的激光发射组件C发射出的激光)，本实施例不对激光发射组件120发射出的激光的角度作限定。
在激光发射组件120的数量为至少两个时，不同的激光发射组件120的发射的激光角度相同或者不同。比如：参考图3中的四组激光发射组件120发射出的激光，对于第一组激光发射组件120，每个激光发射组件120发射激光的角度相同，发射出的激光与水平面平行；对于第二组激光发射组件120，每个激光发射组件120发射激光的角度相同，发射出的激光与水平面垂直；对于第三组激光发射组件120，第一个激光发射组件与第三个激光发射组件发射激光的角度相同(激光与水平面垂直)、与第二个激光发射组件发射激光的角度不同(激光与水平面水平)；对于第四组激光发射组件120，第一个激光发射组件、第二激光发射组件和第三个激光发射组件发射激光的角度不同。
每个激光发射组件120包括使激光射出的激光发射头。当然，激光发射组 件120还包括激光发射过程中所需的其它组件，比如：激光生成组件、光子加速组件等，本实施例在此不再一一赘述。
可选地，图像采集组件130可以是微型的摄像机、照相机等，本实施例不对图像采集组件130的类型作限定。
参考图4，图像采集组件130包括镜头131和成像组件132。
可选地，镜头131包括但不限于以下几种：直射式镜头、全景反射式镜头、部分反射式镜头或潜望式镜头。参考图5，直射式镜头是指支持光线直接入射的镜头；参考图6，全景反射式镜头是指不同角度的光线经过一次反射后入射的镜头；参考图7，部分反射式镜头是指指定角度的光线经过一次反射后入射的镜头；参考图8，潜望式镜头是指光线经过至少两次反射后入射的镜头。镜头131上设置有带通滤光片133，该带通滤光片133使得图像采集组件130仅对激光发射组件120发射的激光具有可见性。
可选地，成像组件132可以为互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS)传感器；或者，电荷耦合器件(Charge Coupled Device，CCD)等，本实施例不对成像组件132的类型作限定。
图像采集组件130的数量为一个或者多个。可选地，图像采集组件130和激光发射组件120均设置在壳体110的侧面。图像采集组件130可以位于激光发射组件120上方；或者，也可以位于激光发射组件120下方；或者，图像采集组件130与激光发射组件120交替排列在同一水平面上，本实施例不对图像采集组件130与激光发射组件120的排列方式作限定。
在第一个示例中，参考图9，激光发射组件120和图像采集组件130的数量均为一个，图像采集组件130和激光发射组件120均设置在壳体110的侧面，且激光发射组件120设置在图像采集组件130正上方。
在第二个示例中，参考图10，激光发射组件120的数量为2个，图像采集组件130的数量为一个，图像采集组件130和激光发射组件120均设置在壳体110的侧面，一个激光发射组件120设置在图像采集组件130左上方、另一个激光发射组件120设置在图像采集组件130右上方。
在第三个示例中，参考图11，激光发射组件120的数量为3个，图像采集组件130的数量为一个，图像采集组件130和激光发射组件120均设置在壳体110的侧面，第一个激光发射组件120设置在图像采集组件130左上方、第二个激光发射组件120设置在图像采集组件130正上方、第三个激光发射组件120设置在图像采集组件130右上方。
在第四个示例中，参考图12，激光发射组件120的数量为3个，图像采集组件130的数量为2个，图像采集组件130和激光发射组件120均设置在壳体110的侧面。3个激光发射组件120设置在2个图像采集组件130上方。
本实施例中，激光发射组件120和图像采集组件130在处理组件140的控制下工作。处理组件140控制激光发射组件120发射激光，在激光照射过程中若前方存在障碍物，则激光的照射方向发生改变，并在障碍物上投射出投影点；此时，图像采集组件130采集到的目标图像包括该投影点的投影图像。相应地，处理组件140获取图像采集组件130采集到的目标图像，并根据目标图像中的投影图像进行图像分析以获取障碍物的距离。可选地，在激光照射过程中若前方不存在障碍物，则激光的照射方向不发生改变，不在障碍物上投射出投影点，此时，图像采集组件130采集到的目标图像不包括投影点的投影图像。
在一个示例中，在激光发射组件120的数量为多个时，处理组件140控制多个激光发射组件120依次分别开启一定的时间。比如：激光发射组件120的数量为2个，处理组件140控制第一个激光发射组件120先开启，在开启的时间达到0.5s时，控制第一个激光发射组件120关闭并开启第二个激光发射组件120，在第二个激光发射组件120开启的时间达到0.5s时，控制第二个激光发射组件120关闭再控制第一个激光发射组件120开启，如此循环。
在另一个示例中，在激光发射组件120的数量为多个时，处理组件140将多个激光发射组件120划分为多个组，控制多个组的激光发射组件120依次分别开启一定的时间。比如：激光发射组件120的组数为2个(每组包括2个激光发射组件)，处理组件140控制第一组激光发射组件120先开启，在开启的时间达到0.5s时，控制第一组激光发射组件120关闭并开启第二组激光发射组件 120，在第二组激光发射组件120开启的时间达到0.5s时，控制第二组激光发射组件120关闭再控制第一组激光发射组件120开启，如此循环。
可选地，处理组件140在目标图像中存在激光投射到障碍物上的投影点的投影图像时，获取障碍物的轮廓信息，包括：对于每个投射到障碍物上的投影点，基于三角测距法确定投影点与目标图像采集组件之间的距离；根据投影点与目标图像采集组件之间的距离确定投影点相对目标图像采集组件的三维坐标；基于障碍物上的多个投影点的三维坐标确定障碍物的轮廓信息。其中，目标采集组件为采集到投影点的投影图像的图像采集组件。
示意性地，图像采集组件包括镜头和成像组件；激光发射组件包括激光发射头；对于每个投射到障碍物上的投影点。对于每个投射到障碍物上的投影点，处理组件基于三角测距法确定投影点与目标图像采集组件之间的距离，包括：获取投射投影点的目标激光发射组件的激光发射头与目标图像采集组件的镜头之间的预设距离；获取第一连线与第二连线之间的夹角；获取目标图像采集组件的焦距；获取投影图像在成像组件上的成像位置；基于相似三角形原理，根据预设距离、夹角、焦距和成像位置计算投影点与目标图像采集组件之间的距离。
其中，第一连线为目标激光发射组件与投影点之前的连线，第二连线为目标激光发射组件的激光发射头与目标图像采集组件的镜头之间的连线。
参考图13所示的目标激光发射组件投射至障碍物上的3个投影点的示意图。对于每个投影点(图13中以投影点1为例进行说明)，激光发射头与目标图像采集组件的镜头在第二连线上，且预设距离为s；图像采集组件130的焦距为f；第一连线与第二连线之间的夹角为β。投影图像在成像组件上的成像位置为P。由几何知识可作相似三角形，激光发射头、镜头与投影点组成三角形，该三角形相似于镜头、P与辅助点P’构成的三角形。
设PP’＝x，则f/x＝q/s；由此，q＝f*s/x。
其中，x＝x1+x2＝f/tanβ+pixel Size*position。
其中，pixel Size是像素单位大小，position为投影图像的像素坐标相对于成像中心的位置。
由上述公式可计算出q的值。d＝q/sinβ。基于余弦定理可以根据d、s和β计算出投影点与目标图像采集组件之间的距离。
之后，处理组件140可以基于目标采集组件的位置确定出投影点的三维坐标，然后，根据多个投影点的三维坐标确定出障碍物的轮廓信息。
可选地，本实施例中，障碍物上的多个投影点包括但不限于以下几种中的至少一种：多个激光发射组件将激光投射至障碍物上的产生多个投影点；同一激光发射组件将激光投射至障碍物多个表面上产生的多个投影点；扫地机器人带动同一激光发射组件移动后，激光发射组件将激光从不同角度投射至障碍物上产生的多个投影点。
可选地，处理组件140确定轮廓信息指示的障碍物类型，包括：将障碍物的轮廓信息与各种类型障碍物的特征信息进行比较；将与该障碍物的轮廓信息相匹配的特征信息对应的障碍物类型确定为轮廓信息指示的障碍物类型。
其中，障碍物类型是根据扫地机器人工作过程中遇到的障碍物确定的。示意性地，障碍物类型包括但不限于以下几种中的至少一种：线团类型、电线类型、柱状类型、阴角类型、阳角类型、门槛类型、地毯边沿、缝隙类型等。
可选地，处理组件140控制扫地机器人按照障碍物类型对应的清扫模式进行清扫，包括：在障碍物类型为线团类型或者电线类型时，控制扫地机器人进入避障模式；在障碍物类型为柱状类型时，规划可穿越路线以控制扫地机器人穿越障碍物；在障碍物类型为阴角类型时，控制扫地机器人上的边刷以特定运动模式对阴角进行清扫；在障碍物类型为阳角类型时，控制扫地机器人沿阳角的边缘清扫；在障碍物类型为门槛类型时，确定扫地机器人是否可攀越当前门槛类型的障碍物；在障碍物类型为地毯边沿或者缝隙类型时，控制扫地机器人上的风扇吸力增大，和/或停止拖地喷水功能。
其中，边刷的特定运动模式可以是n次往复抖动，n为正整数。
可选地，在障碍物类型为地毯边沿或者缝隙类型时，若扫地机器人的风扇吸力已达到最大值且拖地喷水功能开启，则停止拖地喷水功能；若扫地机器人的风扇吸力未达到最大值且拖地喷水功能开启，则增大风扇吸力且停止拖地喷水功能；若扫地机器人的风扇吸力未达到最大值且拖地喷水功能关闭，则增大风扇吸力。
其中，柱状类型的障碍物可以是桌子腿、椅子腿、沙发腿等，本实施例不对柱状类型的障碍物作限定。
当然，上述障碍物类型与对应的清扫模式仅是示意性地，在实际实现时，障碍物类型还可以对应其他清扫模式，障碍物类型与清扫模式之间的对应关系可以默认设置在扫地机器人中；或者，也可以由用户设置，本实施不对障碍物类型与清扫模式之间的对应关系的设置方式作限定。
综上所述，本实施例提供的扫地机器人，通过设置于壳体上的至少一个激光发射组件；设置于壳体上的至少一个图像采集组件；与每个激光发射器和每个图像采集装置相连的处理组件，由处理组件获取图像采集组件采集到的目标图像；在目标图像中存在激光投射到障碍物上的投影点的投影图像时，获取障碍物的轮廓信息；确定轮廓信息指示的障碍物类型；控制扫地机器人按照障碍物类型对应的清扫模式进行清扫；可以解决现有的扫地机器人检测到障碍物时统一采用避障策略，导致清扫效果不佳的问题；由于扫地机器人可以根据不同的障碍物类型采用不同的清扫模式，而不是均进行避障不清扫，因此，可以提高扫地机器人的清扫效果。
图14是本申请一个实施例提供的扫地机器人的自动控制方法的流程图，本实施例以该方法应用于上述实施例所示的扫地机器人中，且各个步骤的执行主体为该扫地机器人中的处理组件140为例进行说明。该方法至少包括以下几个步骤：
步骤1401，获取图像采集组件采集到的目标图像。
可选地，处理组件定时读取图像采集组件采集到的目标图像；或者，图像采集组件每拍摄到一张目标图像，就将该目标图像发送至处理组件。
步骤1402，在目标图像中存在激光投射到障碍物上的投影点的投影图像时，获取障碍物的轮廓信息。
可选地，对于每个投射到障碍物上的投影点，基于三角测距法确定投影点与目标图像采集组件之间的距离，目标采集组件为采集到投影点的投影图像的图像采集组件；根据投影点与目标图像采集组件之间的距离确定投影点相对目标图像采集组件的三维坐标；基于障碍物上的多个投影点的三维坐标确定障碍物的轮廓信息。
其中，对于每个投射到障碍物上的投影点，基于三角测距法确定投影点与目标图像采集组件之间的距离，包括：获取投射投影点的目标激光发射组件的激光发射头与目标图像采集组件的镜头之间的预设距离；获取第一连线与第二连线之间的夹角，第一连线为目标激光发射组件与投影点之前的连线，第二连线为目标激光发射组件的激光发射头与目标图像采集组件的镜头之间的连线；获取目标图像采集组件的焦距；获取投影图像在成像组件上的成像位置；基于相似三角形原理，根据预设距离、夹角、焦距和成像位置计算投影点与目标图像采集组件之间的距离。
本步骤的描述参考上述扫地机器人的实施例，本实施例在此不再赘述。
步骤1403，确定轮廓信息指示的障碍物类型。
可选地，处理组件将障碍物的轮廓信息与各种类型障碍物的特征信息进行比较；将与该障碍物的轮廓信息相匹配的特征信息对应的障碍物类型确定为轮廓信息指示的障碍物类型。
步骤1404，控制扫地机器人按照障碍物类型对应的清扫模式进行清扫。
可选地，在障碍物类型为线团类型或者电线类型时，控制扫地机器人进入避障模式；在障碍物类型为柱状类型时，规划可穿越路线以控制扫地机器人穿越障碍物；在障碍物类型为阴角类型时，控制扫地机器人上的边刷启动以特定的工作模式对阴角进行清扫；在障碍物类型为阳角类型时，控制扫地机器人沿 阳角的边缘清扫；在障碍物类型为门槛类型时，确定扫地机器人是否可攀越当前门槛类型的障碍物；在障碍物类型为地毯边沿或者缝隙类型时，控制扫地机器人上的风扇吸力增大。
本步骤的描述参考上述扫地机器人的实施例，本实施例在此不再赘述。
综上所述，本实施例提供的扫地机器人的自动控制方法，通过获取图像采集组件采集到的目标图像；在目标图像中存在激光投射到障碍物上的投影点的投影图像时，获取障碍物的轮廓信息；确定轮廓信息指示的障碍物类型；控制扫地机器人按照障碍物类型对应的清扫模式进行清扫；可以解决现有的扫地机器人检测到障碍物时统一采用避障策略，导致清扫效果不佳的问题；由于扫地机器人可以根据不同的障碍物类型采用不同的清扫模式，而不是均进行避障不清扫，因此，可以提高扫地机器人的清扫效果。
可选地，本申请还提供有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程序，所述程序由处理器加载并执行以实现上述方法实施例的扫地机器人的自动控制方法。
可选地，本申请还提供有一种计算机产品，该计算机产品包括计算机可读存储介质，所述计算机可读存储介质中存储有程序，所述程序由处理器加载并执行以实现上述方法实施例的扫地机器人的自动控制方法。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (11)

  1. 一种扫地机器人，其特征在于，所述扫地机器人包括：
    壳体；
    设置于所述壳体上的至少一个激光发射组件，每个激光发射组件用于向行进方向投射激光；
    设置于所述壳体上的至少一个图像采集组件，每个图像采集组件用于采集所述行进方向的目标图像；
    与每个激光发射器和每个图像采集装置相连的处理组件，所述处理组件用于获取所述图像采集组件采集到的目标图像；在所述目标图像中存在激光投射到障碍物上的投影点的投影图像时，获取所述障碍物的轮廓信息；确定所述轮廓信息指示的障碍物类型；控制所述扫地机器人按照所述障碍物类型对应的清扫模式进行清扫。
  2. 根据权利要求1所述的扫地机器人，其特征在于，所述处理组件，用于：
    对于每个投射到所述障碍物上的投影点，基于三角测距法确定所述投影点与目标图像采集组件之间的距离，所述目标采集组件为采集到所述投影点的投影图像的图像采集组件；
    根据所述投影点与所述目标图像采集组件之间的距离确定所述投影点相对所述目标图像采集组件的三维坐标；
    基于所述障碍物上的多个投影点的三维坐标确定所述障碍物的轮廓信息。
  3. 根据权利要求2所述的扫地机器人，其特征在于，所述图像采集组件包括镜头和成像组件；所述激光发射组件包括激光发射头；
    对于每个投射到所述障碍物上的投影点，所述处理组件，用于：
    获取投射所述投影点的目标激光发射组件的激光发射头与所述目标图像采集组件的镜头之间的预设距离；
    获取第一连线与第二连线之间的夹角，所述第一连线为所述目标激光发射组件与所述投影点之前的连线，所述第二连线为所述目标激光发射组件的激光发射头与所述目标图像采集组件的镜头之间的连线；
    获取所述目标图像采集组件的焦距；
    获取所述投影图像在所述成像组件上的成像位置；
    基于相似三角形原理，根据所述预设距离、所述夹角、所述焦距和所述成像位置计算所述投影点与目标图像采集组件之间的距离。
  4. 根据权利要求2所述的扫地机器人，其特征在于，所述障碍物上的多个投影点，包括：
    多个激光发射组件将激光投射至所述障碍物上的产生多个投影点；和/或，
    同一激光发射组件将激光投射至所述障碍物多个表面上产生的多个投影点；和/或，
    所述扫地机器人带动同一激光发射组件移动后，所述激光发射组件将激光从不同角度投射至所述障碍物上产生的多个投影点。
  5. 根据权利要求1所述的扫地机器人，其特征在于，所述处理组件，用于：
    在所述障碍物类型为线团类型或者电线类型时，控制所述扫地机器人进入避障模式；
    在所述障碍物类型为柱状类型时，规划可穿越路线以控制所述扫地机器人穿越所述障碍物；
    在所述障碍物类型为阴角类型时，控制所述扫地机器人上的边刷以特定运动模式对阴角进行清扫；
    在所述障碍物类型为阳角类型时，控制所述扫地机器人沿阳角的边缘清扫；
    在所述障碍物类型为门槛类型时，确定所述扫地机器人是否可攀越当前门槛类型的障碍物；
    在所述障碍物类型为地毯边沿或者缝隙类型时，控制所述扫地机器人上的风扇吸力增大，和/或停止拖地喷水功能。
  6. 根据权利要求1至5任一所述的扫地机器人，其特征在于，不同的激光发射组件的发射的激光角度相同或者不同。
  7. 根据权利要求1至5任一所述的扫地机器人，其特征在于，所述图像采集组件中的镜头为直射式镜头、全景反射式镜头、部分反射式镜头或潜望式镜头。
  8. 一种扫地机器人的自动控制方法，其特征在于，用于权利要求1至7任一所述的扫地机器人中，所述方法包括：
    获取图像采集组件采集到的目标图像；
    在目标图像中存在激光投射到障碍物上的投影点的投影图像时，获取所述障碍物的轮廓信息；
    确定所述轮廓信息指示的障碍物类型；
    控制所述扫地机器人按照所述障碍物类型对应的清扫模式进行清扫。
  9. 根据权利要求8所述的自动控制方法，其特征在于，所述获取所述障碍物的轮廓信息，包括：
    对于每个投射到所述障碍物上的投影点，基于三角测距法确定所述投影点与目标图像采集组件之间的距离，所述目标采集组件为采集到所述投影点的投影图像的图像采集组件；
    根据所述投影点与所述目标图像采集组件之间的距离确定所述投影点相对所述目标图像采集组件的三维坐标；
    基于所述障碍物上的多个投影点的三维坐标确定所述障碍物的轮廓信息。
  10. 根据权利要求9所述的自动控制方法，其特征在于，所述对于每个投射到所述障碍物上的投影点，基于三角测距法确定所述投影点与目标图像采集组件之间的距离，包括：
    获取投射所述投影点的目标激光发射组件的激光发射头与所述目标图像采集组件的镜头之间的预设距离；
    获取第一连线与第二连线之间的夹角，所述第一连线为所述目标激光发射组件与所述投影点之前的连线，所述第二连线为所述目标激光发射组件的激光发射头与所述目标图像采集组件的镜头之间的连线；
    获取所述目标图像采集组件的焦距；
    获取所述投影图像在所述成像组件上的成像位置；
    基于相似三角形原理，根据所述预设距离、所述夹角、所述焦距和所述成像位置计算所述投影点与目标图像采集组件之间的距离。
  11. 根据权利要求8所述的自动控制方法，其特征在于，所述控制所述扫地机器人按照所述障碍物类型对应的清扫模式进行清扫，包括：
    在所述障碍物类型为线团类型或者电线类型时，控制所述扫地机器人进入避障模式；
    在所述障碍物类型为柱状类型时，规划可穿越路线以控制所述扫地机器人穿越所述障碍物；
    在所述障碍物类型为阴角类型时，控制所述扫地机器人上的边刷以特定运动模式对阴角进行清扫；
    在所述障碍物类型为阳角类型时，控制所述扫地机器人沿阳角的边缘清扫；
    在所述障碍物类型为门槛类型时，确定所述扫地机器人是否可攀越当前门槛类型的障碍物；
    在所述障碍物类型为地毯边沿或者缝隙类型时，控制所述扫地机器人上的风扇吸力增大，和/或停止拖地喷水功能。
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