CN112826393A

Movatterモバイル変換

Info

Publication number: CN112826393A
Application number: CN202011643505.1A
Authority: CN
Inventors: 马昭; 潘俊威; 耿哲; 张磊; 王继鑫
Original assignee: Beijing Qihoo Technology Co Ltd
Current assignee: Beijing Qihoo Technology Co Ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-05-25
Anticipated expiration: 2040-12-30
Also published as: CN112826393B

Abstract

Translated fromChinese

本发明公开了一种扫地机器人运行管理方法、扫地机器人、设备及存储介质，检测运行方向是否存在测距线，若存在所述测距线，则检测所述测距线与激光发射头之间的激光线长度信息；基于所述激光线长度信息计算所述激光雷达传感器与所述测距线的垂直高度信息；获取所述激光雷达传感器的安装高度，根据所述安装高度与所述垂直高度信息计算地面落差信息；根据所述地面落差信息与预设高度阈值的高度差值确定目标运行方案。本发明通过激光雷达传感器快速检测扫地机器人运行方向测距线上各点之间的地面落差信息，并根据地面落差信息与预设高度阈值的高度差值确定目标运行方案，便于扫地机器人按照目标运行方案运行，避免扫地机器人在运行过程中跌落，提升扫地机器人的运行安全性。

The invention discloses a sweeping robot operation management method, sweeping robot, equipment and storage medium, which can detect whether there is a ranging line in the running direction, and if there is the ranging line, detect the distance between the ranging line and a laser emitting head. the length information of the laser line; calculate the vertical height information of the lidar sensor and the ranging line based on the length information of the laser line; obtain the installation height of the lidar sensor, according to the installation height and the vertical height The information calculates ground drop information; the target operation plan is determined according to the height difference between the ground drop information and a preset height threshold. The invention quickly detects the ground drop information between the points on the ranging line in the running direction of the sweeping robot through the laser radar sensor, and determines the target operation plan according to the height difference between the ground drop information and the preset height threshold, so as to facilitate the sweeping robot to run according to the target The operation of the solution can prevent the sweeping robot from falling during the operation process and improve the operation safety of the sweeping robot.

Description

Sweeping robot operation management method, sweeping robot, equipment and storage medium

Technical Field

The invention relates to the technical field of laser ranging radars, in particular to a sweeping robot operation management method, a sweeping robot, equipment and a storage medium.

Background

The sweeping robot works in a complex home scene, needs to cope with various conditions, and simultaneously ensures safety. The problem that the sweeping robot falls from a high position is the first problem to be solved for the working safety of the sweeping robot.

The floor sweeping robot which is mainstream in the market detects a falling area by installing a plurality of ground detection sensors on a chassis and detects the range of the falling area through frequent probing and specific actions, so that falling is avoided. However, in frequent probing operations, the ground detection sensor may fall due to short time for triggering because of too fast operation, and a relatively shallow cliff does not reach a threshold value preset by the ground detection sensor, so that the sweeping robot falls into a depression and cannot return, and the running safety of the sweeping robot is low.

Disclosure of Invention

The invention mainly aims to provide a sweeping robot operation management method, a sweeping robot, equipment and a storage medium, and aims to solve the technical problem that the current sweeping robot is low in operation safety.

In order to achieve the above object, an embodiment of the present invention provides a method for managing operation of a floor sweeping robot, which is applied to a floor sweeping robot, wherein a laser radar sensor is arranged in the floor sweeping robot, the laser radar sensor emits a laser line through a laser emitting head and forms a distance measuring line in an operation direction of the floor sweeping robot, and the method for managing operation of the floor sweeping robot includes:

detecting whether a distance measuring line exists in the running direction, and if the distance measuring line exists, detecting the length information of the laser line between the distance measuring line and the laser emitting head;

calculating vertical height information of the laser radar sensor and the ranging line based on the laser line length information;

acquiring the installation height of the laser radar sensor, and calculating ground fall information according to the installation height and the vertical height information;

and determining a target operation scheme according to the height difference value of the ground fall information and a preset height threshold value.

Preferably, the step of determining the target operation scheme according to the height difference between the ground fall information and the preset height threshold includes:

identifying the largest ground fall difference value in the ground fall information and the plurality of ground fall difference values;

performing difference operation on the maximum ground level difference value and the preset height threshold value to obtain a height difference value between the maximum ground level difference value and the preset height threshold value;

and determining a target operation scheme from a preset operation scheme table according to the height difference.

Preferably, the step of determining the target operation scheme from the preset operation scheme table according to the height difference value comprises:

detecting whether a difference value range matched with the height difference value exists in a preset operation scheme table or not;

and if any target difference range in the plurality of difference ranges is matched with the height difference, determining a preset operation scheme corresponding to the target difference range as a target operation scheme.

Preferably, the step of calculating vertical height information of the lidar sensor and the ranging line based on the laser line length information includes:

detecting the included angle information of the plane where the laser line and the ranging line are located;

and respectively calculating vertical height values between the laser radar sensor and a plurality of points of the ranging line according to the included angle information and a plurality of laser line length values in the laser line length information, and forming vertical height information by the plurality of vertical height values.

Preferably, the step of respectively calculating the vertical height values between the laser radar sensor and the plurality of points of the ranging line according to the included angle information and the plurality of laser line length values in the laser line length information includes:

aiming at a plurality of laser line length values in the laser line length information, respectively executing the following steps:

acquiring a trigonometric function, and inputting the included angle information and the length value of the laser line into the trigonometric function;

and calculating the included angle information and the laser line length value according to the trigonometric function to obtain the vertical height of the laser radar sensor and the point corresponding to the laser line length value in a plurality of points of the ranging line.

Preferably, the step of detecting whether the distance measuring line exists in the running direction comprises the following steps:

and controlling the laser radar sensor to emit a laser line through a laser emitting head, forming an infrared laser line section on the ground in the running direction of the sweeping robot based on the laser line, and determining the infrared laser line section as a ranging line.

Preferably, the step of forming an infrared laser line segment on the ground in the running direction of the sweeping robot based on the laser line comprises:

and calling a preset optical device, and scattering the laser line through the optical device, so that the laser line is scattered and then forms an infrared laser line section on the ground in the running direction of the sweeping robot.

Preferably, the infrared laser line segment is perpendicular to the advancing direction, and the length of the infrared laser line segment is greater than or equal to the diameter of the sweeping robot.

Preferably, the step of detecting whether a distance measuring line exists in the running direction includes:

detecting whether an infrared laser line segment exists in the running direction through an infrared camera;

and if the infrared laser line segment exists, judging that a distance measuring line exists.

Preferably, a floor-sweeping sensor is arranged in the floor-sweeping robot, and the step of detecting whether a distance-measuring line exists in the running direction includes the following steps:

if the distance measuring line does not exist, the ground fall is judged to be infinite, the floor sweeping robot is controlled to reduce the running speed, the ground detection sensor is called to detect the target ground fall of the ground in the running direction, and if the ground detection sensor cannot return after entering the area where the target ground fall is located, a ground detection signal is triggered to give an early warning prompt.

Preferably, the ground detection signal is a voice signal and/or an indicator light signal.

Preferably, if the distance measuring line does not exist, the step of determining that the ground fall is infinite comprises:

detecting whether the laser emitting head has a fault or not;

and if the laser emitting head has no fault, judging that the ground fall is infinite.

Preferably, the step of detecting the laser line length information between the ranging line and the laser emitting head includes:

shooting the laser line through an infrared camera to obtain a laser line image;

and detecting the laser line image according to a built-in algorithm to obtain a plurality of laser line length values between each point on the ranging line and the laser emitting head, and forming laser line length information by the plurality of laser line length values.

Preferably, the step of calculating the ground fall information according to the installation height and the vertical height information includes:

and performing difference operation on the plurality of vertical height values in the vertical height information and the mounting height respectively to obtain a plurality of ground fall values, and forming ground fall information by the plurality of ground fall values.

In order to achieve the above object, the present invention further provides a sweeping robot, including:

the detection module is used for detecting whether a distance measuring line exists in the running direction or not, and if the distance measuring line exists, the detection module is used for detecting the length information of the laser line between the distance measuring line and the laser emitting head;

the calculation module is used for calculating the vertical height information of the laser radar sensor and the ranging line based on the laser line length information;

the acquisition module is also used for acquiring the installation height of the laser radar sensor and calculating the ground fall information according to the installation height and the vertical height information;

and the determining module is used for determining a target operation scheme according to the height difference value between the ground fall information and a preset height threshold.

Further, the sweeping robot further comprises:

the identification module is used for identifying the largest ground fall difference value in the ground fall difference values;

the operation module is used for performing difference operation on the maximum ground level difference value and the preset height threshold value to obtain a height difference value between the maximum ground level difference value and the preset height threshold value;

the determining module is further configured to determine a target operation scheme from a preset operation scheme table according to the height difference.

Further, the sweeping robot further comprises:

the detection module is also used for detecting whether a difference value range matched with the height difference value exists in a preset operation scheme table or not;

the determining module is further configured to determine a preset operation scheme corresponding to the target difference range as a target operation scheme if any target difference range exists in the plurality of difference ranges and is matched with the height difference.

Further, the sweeping robot further comprises:

the detection module is also used for detecting the included angle information of the plane where the laser line and the ranging line are located;

the calculation module is further configured to calculate vertical height values between the laser radar sensor and multiple points of the ranging line according to the included angle information and multiple laser line length values in the laser line length information, and form vertical height information from the multiple vertical height values.

Further, in order to achieve the above object, the present invention further provides a sweeping robot, where the sweeping robot includes a memory, a processor, and a sweeping robot operation management program stored in the memory and capable of being executed on the processor, and the sweeping robot operation management program, when executed by the processor, implements the steps of the sweeping robot operation management method.

Further, in order to achieve the above object, the present invention further provides a storage medium, where a sweeping robot operation management program is stored on the storage medium, and the sweeping robot operation management program, when executed by the processor, implements the steps of the sweeping robot operation management method.

The embodiment of the invention provides a sweeping robot operation management method, a sweeping robot, equipment and a storage medium, wherein whether a distance measuring line exists in the operation direction or not is detected, and if the distance measuring line exists, the length information of a laser line between the distance measuring line and a laser emitting head is detected; calculating vertical height information of the laser radar sensor and the ranging line based on the laser line length information; acquiring the installation height of the laser radar sensor, and calculating ground fall information according to the installation height and the vertical height information; and determining a target operation scheme according to the height difference value of the ground fall information and a preset height threshold value. According to the invention, the ground fall information between the points on the distance measuring line in the running direction of the sweeping robot is rapidly detected through the laser radar sensor, and the target running scheme is determined according to the height difference value between the ground fall information and the preset height threshold value, so that the sweeping robot can run according to the target running scheme conveniently, the sweeping robot is prevented from falling in the running process, and the running safety of the sweeping robot is improved.

Drawings

Fig. 1 is a schematic structural diagram of a hardware operating environment according to an embodiment of a floor sweeping robot operation management method of the present invention;

fig. 2 is a schematic flow chart of a first embodiment of the operation management method of the sweeping robot according to the present invention;

fig. 3 is a schematic side view of the sweeping robot during operation in the sweeping robot operation management method of the present invention;

fig. 4 is a top view of the sweeping robot during operation in the sweeping robot operation management method of the present invention;

fig. 5 is a schematic flow chart of a second embodiment of the operation management method of the sweeping robot according to the present invention;

fig. 6 is a schematic flow chart of a third embodiment of the operation management method of the sweeping robot according to the present invention;

fig. 7 is a schematic view of an operation scene of the sweeping robot in the sweeping robot operation management method of the present invention;

fig. 8 is a schematic flow chart of a fourth embodiment of the operation management method of the sweeping robot according to the present invention;

fig. 9 is a schematic functional module diagram of a sweeping robot according to a preferred embodiment of the present invention.

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.

As shown in fig. 1, fig. 1 is a schematic structural diagram of a sweeping robot in a hardware operating environment according to an embodiment of the present invention.

In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.

The sweeping robot in the embodiment of the invention can be a PC, and can also be a mobile terminal device such as a tablet personal computer and a portable computer.

As shown in fig. 1, the sweeping robot operation management apparatus may include: aprocessor 1001, such as a CPU, anetwork interface 1004, auser interface 1003, amemory 1005, acommunication bus 1002. Wherein acommunication bus 1002 is used to enable connective communication between these components. Theuser interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and theoptional user interface 1003 may also include a standard wired interface, a wireless interface. Thenetwork interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). Thememory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). Thememory 1005 may alternatively be a storage device separate from theprocessor 1001.

Those skilled in the art will appreciate that the sweeping robot operation management device configuration shown in fig. 1 does not constitute a limitation of the sweeping robot operation management device, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.

As shown in fig. 1, thememory 1005, which is a storage medium, may include an operating system, a network communication module, a user interface module, and a sweeping robot operation management program.

In the device shown in fig. 1, thenetwork interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; theuser interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and theprocessor 1001 may be configured to call the sweeping robot operation management program stored in thememory 1005, and perform the following operations:

Further, the step of determining a target operation scheme according to the height difference between the ground fall information and a preset height threshold includes:

Further, the step of determining the target operation scheme from the preset operation scheme table according to the height difference value comprises:

Further, the step of calculating vertical height information of the lidar sensor and the ranging line based on the laser line length information comprises:

Further, the step of respectively calculating the vertical height values between the laser radar sensor and the plurality of points of the ranging line according to the included angle information and the plurality of laser line length values in the laser line length information includes:

Further, before the step of detecting whether the distance measuring line exists in the running direction, theprocessor 1001 may be configured to call the running management program of the cleaning robot stored in thememory 1005, and perform the following operations:

Further, the step of forming an infrared laser line segment on the ground in the running direction of the sweeping robot based on the laser line comprises:

Further, the infrared laser line segment is perpendicular to the advancing direction, and the length of the infrared laser line segment is larger than or equal to the diameter of the sweeping robot.

Further, the step of detecting whether a distance measuring line exists in the running direction comprises:

Further, the sweeping robot is provided with a ground detection sensor, and after the step of detecting whether the distance measurement line exists in the running direction, theprocessor 1001 may be configured to call the sweeping robot running management program stored in thememory 1005, and perform the following operations:

Further, the ground detection signal is a voice signal and/or an indicator light signal.

Further, if the distance measuring line does not exist, the step of determining that the ground fall is infinite comprises:

detecting whether the laser emitting head has a fault or not;

Further, the step of detecting the laser line length information between the ranging line and the laser emitting head includes:

Further, the step of calculating the ground fall information according to the installation height and the vertical height information comprises:

For a better understanding of the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.

Referring to fig. 2, a first embodiment of the invention provides a flowchart of a method for managing the operation of a sweeping robot. In this embodiment, the operation management method of the cleaning robot includes the following steps:

step S10, detecting whether a distance measuring line exists in the running direction, if so, detecting the length information of the laser line between the distance measuring line and the laser emitting head;

the operation management method of the sweeping robot in the embodiment is applied to the sweeping robot, and the sweeping robot is used for cleaning the ground so as to keep the ground clean and sanitary. Be provided with the lidar sensor that carries out the obstacle and detect through laser among the robot of sweeping the floor, the lidar sensor is preferably solid-state line lidar sensor in this embodiment, is provided with the laser emission head among the lidar sensor, and the laser line can be launched to the laser emission head, and the lidar sensor passes through the laser emission head and launches the laser line to form the range finding line that exists with infrared laser line segment form in the traffic direction of the robot of sweeping the floor.

As can be understood, the sweeping robot prevailing in the market at present detects a falling area by installing a plurality of ground detection sensors on a chassis, and detects the range of the falling area through frequent probing and specific actions, so as to avoid falling. However, in frequent probing operations, the ground detection sensor may fall due to short time for triggering because of too fast operation, and a relatively shallow cliff does not reach a threshold value preset by the ground detection sensor, so that the sweeping robot falls into a depression and cannot return, and the running safety of the sweeping robot is low. Under the background, the invention provides a sweeping robot operation management method, which is characterized in that a ground fall in the running direction of the sweeping robot is quickly detected through a laser radar sensor, and a target operation scheme is determined according to the height difference between the ground fall and a preset height threshold, so that the sweeping robot can conveniently run according to the target operation scheme, the sweeping robot is prevented from falling in the running process, and the running safety of the sweeping robot is improved.

Further, when the user has a ground cleaning requirement, a cleaning task can be issued to the sweeping robot through a remote controller or an app (Application) in the mobile terminal, wherein the remote controller can communicate with the sweeping robot based on a short-distance communication mode, and issue a control instruction triggered by a user selecting a control key in the remote controller to the sweeping robot, the mobile terminal can be a smart phone, a tablet computer and the like, and the mobile terminal is provided with the app for running management of the sweeping robot. When the sweeping robot receives a control instruction issued by a user through a remote controller or an app, a cleaning task is identified and obtained from the control instruction, and the specified area is cleaned according to the obtained cleaning task. When cleaning the appointed area, in order to ensure that the cleaning process of the sweeping robot can keep higher safety, the sweeping robot needs to detect the running direction, detect whether the running direction has a distance measuring line, and specifically, determine whether the distance measuring line exists by detecting whether the infrared laser line segment exists. Furthermore, the sweeping robot is provided with an infrared camera and a built-in algorithm for detecting laser line length information in an image, wherein the laser line length information consists of laser line length values corresponding to a plurality of points on a ranging line divided by a preset dividing mode, the preset dividing mode is a mode set according to actual requirements, for example, dividing the ranging line according to a scattering angle when the laser emitting head forms the ranging line, dividing each angle into one point, and if the scattering angle is 120 degrees, dividing the ranging line into 120 points; if the distance measuring line exists in the running direction after detection, the sweeping robot shoots the laser line irradiated in the running direction through the infrared camera, the image is processed through a built-in algorithm, laser line length information consisting of a plurality of laser line length values between the distance measuring line and the laser emitting head is obtained, a plurality of ground fall values are calculated according to the laser line length information, a target running scheme is determined according to ground fall information consisting of the ground fall values, and running safety of the sweeping robot is guaranteed. On the contrary, if it is determined through detection that no distance measuring line exists in the running direction, it is indicated that the laser line emitted by the laser emitting head in the laser radar sensor irradiates on a plane with a larger height difference from the running plane of the sweeping robot, so that the sweeping robot cannot shoot the distance measuring line formed by the infrared laser line segment through the infrared camera, and therefore, the ground fall can be determined to be infinite, namely, a falling area or a cliff area exists in the running direction, and the sweeping robot needs to accurately detect the target ground fall through the ground detection sensor and perform early warning prompt according to the target ground fall.

Further, the step of detecting whether the distance measuring line exists in the running direction comprises the following steps:

and A1, controlling the laser radar sensor to emit a laser line through a laser emitting head, forming an infrared laser line segment on the ground in the running direction of the sweeping robot based on the laser line, and determining the infrared laser line segment as a ranging line.

Further, referring to fig. 3, fig. 3 is a schematic side view of the operation of the sweeping robot in the operation management method of the sweeping robot of the present invention, when the sweeping robot operates on the ground according to the cleaning task, in order to ensure the safety in the operation process, the sweeping robot calls the laser radar sensor to control the laser emitting head in the laser radar sensor to emit a laser beam to the downward viewing angle in the operation direction, the laser beam is processed by a preset optical device, so that the laser beam forms an infrared laser line segment on the ground in the operation direction of the sweeping robot, and the formed infrared laser line segment is used as a distance measuring line, wherein the downward viewing angle is set by a manufacturer default or by a user.

and A11, calling a preset optical device, and scattering the laser line through the optical device, so that the laser line is scattered to form an infrared laser line segment on the ground in the running direction of the sweeping robot.

Further, the robot of sweeping the floor calls through inside control relation and presets optical device, through predetermineeing optical device and transmitting the laser line of laser emission head transmission, specifically, the robot of sweeping the floor will predetermine optical device and set up on the irradiation path of laser line, through predetermineeing optical device and transmit the laser line, make the laser line scatter into a sector after predetermineeing optical device's transmission, and shine on the ground of robot traffic direction of sweeping the floor, form infrared laser line segment, wherein predetermine optical device and be one kind in this embodiment can scatter into the device of sector with the laser line.

Further, referring to fig. 4, fig. 4 is a plan view of the sweeping robot during operation in the sweeping robot operation management method of the present invention, and in fig. 4, when the sweeping robot is in operation, the sweeping robot scatters the laser line emitted by the laser emitting head in the laser radar sensor onto the ground in the operation direction through the preset optical device, and forms a distance measuring line existing in the form of an infrared laser line segment on the ground. The infrared laser line segment formed on the ground is perpendicular to the running direction of the sweeping robot, and the length of the infrared laser line segment is larger than or equal to the diameter of the sweeping robot in order to facilitate the sweeping robot to detect the infrared laser line segment.

Step S20, calculating the vertical height information of the laser radar sensor and the distance measuring line based on the laser line length information;

furthermore, after laser line length information consisting of a plurality of laser line length values is obtained, the sweeping robot obtains included angle information between a plane where the ranging line is located and the laser radar sensor, the included angle information and the laser line length information are combined with a trigonometric function to calculate, a plurality of vertical height values of the laser radar sensor and the ranging line are calculated, a plurality of ground fall values between a running plane of the sweeping robot and a plane where different points on the ranging line are located are further calculated according to the vertical height information consisting of the vertical height values, and a target running scheme is determined according to ground fall information consisting of the ground fall values, so that the robot can be ensured to complete a cleaning task safely.

Step S30, acquiring the installation height of the laser radar sensor, and calculating ground fall information according to the installation height and the vertical height information;

the installation height of the laser radar sensor on the sweeping robot is detected through precision instruments such as a height gauge and the like, the installation height is stored in an internal memory of the sweeping robot as equipment information, the installation height is used for placing the sweeping robot on the horizontal ground, the difference in the vertical direction between the horizontal ground and the installation position of the laser radar sensor is obtained, the internal memory is used for storing the installation height of the sweeping robot, various kinds of information such as a preset operation scheme table and the like are included in the preset operation scheme table, a plurality of preset operation schemes and a plurality of difference ranges corresponding to the preset operation schemes are included in the preset operation scheme table, and the preset operation schemes are operation schemes corresponding to different environments faced by a user or a manufacturer according to the sweeping robot. Therefore, after the vertical height information between the laser radar sensor and the plane where each point on the ranging line is located is calculated, the mounting height of the laser radar sensor can be searched from the internal storage of the sweeping robot. After the installation height of the laser radar sensor is obtained, the sweeping robot carries out difference value operation on a plurality of vertical height values in the vertical height information and the installation height of the laser sensor respectively to obtain a plurality of ground fall values between a running plane of the sweeping robot and a plane where each point on a ranging line is located, so that a target running scheme is determined according to ground fall information formed by the ground fall values, and the robot can be conveniently ensured to complete a cleaning task safely.

and step S31, performing difference operation on the plurality of vertical height values in the vertical height information and the installation height respectively to obtain a plurality of ground fall difference values, and forming ground fall information by the plurality of ground fall values.

Further, the floor sweeping robot carries out difference operation on vertical height information consisting of a plurality of vertical height values and the obtained installation height of the laser radar sensor, specifically, the vertical height values in the vertical height information are respectively used as a subtracted number, the installation height is used as a subtracted number to carry out operation, a plurality of ground fall values between a plane where the floor sweeping robot runs and a plane where each point on a ranging line is located are obtained, and a target running scheme is determined according to the ground fall information consisting of the ground fall values. For example: and if the vertical height value is 15cm and the installation height is 10cm, calculating the difference between the vertical height value and the progress of the installation height to obtain the ground fall 15-10 which is 5cm between one point on the distance measuring line and the running plane of the sweeping robot.

And step S40, determining a target operation scheme according to the height difference value between the ground fall information and a preset height threshold value.

Furthermore, a plurality of preset operation schemes which are correspondingly set by a user or a manufacturer according to different environments faced by the sweeping robot are stored in an internal memory of the sweeping robot, so that after the sweeping robot calculates a plurality of ground falling differences, a target operation scheme can be determined from the plurality of preset operation schemes according to the difference between ground falling information consisting of the ground falling differences and a preset height threshold, wherein the preset height threshold is the obstacle crossing allowable height of the sweeping robot set by the user or the manufacturer and is stored in the internal memory. Further, after the robot calculates the ground fall values to form the ground fall information, the robot obtains a preset height threshold value from the internal memory, and performs difference operation on the maximum ground fall difference value with the largest value in the ground fall information and the preset height threshold value to obtain the height difference value between the maximum ground fall difference value and the preset height threshold value. Further, the sweeping robot determines a preset operation scheme matched with the height difference value from a plurality of preset operation schemes in the height difference value preset operation scheme table, and determines the preset operation scheme matched with the height difference value as a target operation scheme, so that the sweeping robot can operate according to the target operation scheme, and the safety of the sweeping robot in operation is ensured.

The embodiment provides a sweeping robot operation management method, a sweeping robot, a device and a storage medium, which are used for detecting whether a distance measuring line exists in an operation direction or not, and if the distance measuring line exists, detecting laser line length information between the distance measuring line and a laser emitting head; calculating vertical height information of the laser radar sensor and the ranging line based on the laser line length information; acquiring the installation height of the laser radar sensor, and calculating ground fall information according to the installation height and the vertical height information; and determining a target operation scheme according to the height difference value of the ground fall information and a preset height threshold value. According to the invention, the ground fall information between the points on the distance measuring line in the running direction of the sweeping robot is rapidly detected through the laser radar sensor, and the target running scheme is determined according to the height difference value between the ground fall information and the preset height threshold value, so that the sweeping robot can run according to the target running scheme conveniently, the sweeping robot is prevented from falling in the running process, and the running safety of the sweeping robot is improved.

Further, referring to fig. 5, a second embodiment of the operation management method of the sweeping robot of the present invention is provided based on the first embodiment of the operation management method of the sweeping robot of the present invention, and in the second embodiment, the step of determining the target operation scheme according to the height difference between the ground fall information and the preset height threshold includes:

step S41, identifying the largest ground difference value in the ground difference values of the ground difference information;

step S42, performing difference operation on the maximum ground level difference value and the preset height threshold value to obtain a height difference value between the maximum ground level difference value and the preset height threshold value;

and step S43, determining a target operation scheme from a preset operation scheme table according to the height difference value.

Further, the sweeping robot respectively calculates the difference values of every two of the plurality of ground fall values in the ground fall information, and obtains the largest ground fall value with the largest numerical value in the plurality of ground fall values after the calculation is completed. After the maximum floor difference value is obtained through recognition, the floor sweeping robot performs difference operation on the maximum floor difference value and a preset height threshold value to obtain a height difference value between the maximum floor difference value and the preset height threshold value, specifically, the maximum floor difference value is used as a deduct, the preset height threshold value is used as a deduct to perform difference operation, and the height difference value between the maximum floor difference value and the preset height threshold value is obtained after the difference operation is completed. For example: if the maximum ground fall difference value is 5cm and the preset height threshold value is 1cm, performing difference operation on the maximum ground fall difference value and the preset height threshold value to obtain a height difference value of 5-1-4 cm, and indicating that the maximum ground fall difference value is greater than the preset height threshold value representing the obstacle crossing allowable height of the sweeping robot; another example is: and if the maximum ground fall difference value is 1cm and the preset height threshold value is 1.5cm, performing difference operation on the maximum ground fall difference value and the preset height threshold value to obtain a height difference value of 1-1.5-0.5 cm, and indicating that the maximum ground fall difference value is smaller than the preset height threshold value representing the obstacle crossing allowable height of the sweeping robot. Furthermore, the sweeping robot determines a target operation scheme matched with the height difference from a plurality of preset operation schemes in a preset operation scheme table according to the height difference obtained by calculation, so that the sweeping robot can operate according to the target operation scheme, the sweeping robot is prevented from falling in the operation process, and the operation safety of the sweeping robot is improved.

step S421, detecting whether a difference range matched with the height difference exists in a preset operation scheme table;

in step S422, if any target difference range exists in the plurality of difference ranges and is matched with the height difference, a preset operation scheme corresponding to the target difference range is determined as a target operation scheme.

Further, after the height difference value is calculated, the sweeping robot takes the height difference value as a search formula, searches from the preset operation scheme table, and detects whether a difference value range matched with the height difference value exists in a plurality of preset operation schemes of the preset operation scheme table, specifically, detects whether any difference value range in the plurality of difference value ranges includes the height difference value. Further, if it is determined through detection that any difference range in the plurality of difference ranges of the preset operation scheme table includes a height difference value, it is determined that the difference range matches the height difference value, and the difference range is determined as a target difference range. After the target difference range is determined, the sweeping robot searches a preset operation scheme corresponding to the target difference range in a preset operation scheme table according to the target difference range, and determines the preset operation scheme corresponding to the target difference range as the target operation scheme, so that the sweeping robot operates according to the target operation scheme, the sweeping robot is prevented from falling in the operation process, and the operation safety of the sweeping robot is improved. For example: in this embodiment, the difference range may include- ∞ -0 and 0- + ∞, and it is understood that, - ∞ -0 includes an endpoint 0, since when the difference range is- ∞ -0, it indicates that the maximum ground level difference is less than or equal to the preset height threshold, the sweeping robot may span the ground level, and therefore the difference range- ∞ -0 corresponds to a first preset operation scheme consistent with the original operation scheme, and when the difference range is 0- + ∞, it indicates that the maximum ground level difference is greater than the preset height threshold, the sweeping robot cannot span the ground level, and therefore the difference range 0- + ∞correspondsto a second preset operation scheme of the present application, and the second operation scheme is: if the difference range is 0-plus infinity, the running direction is probably the depression, and the depression can cause the trapping, so the detection threshold value of the ground detection sensor is adjusted to accurately measure the real ground fall, and the ground detection signal is triggered to prevent the depression for the real ground fall which cannot return after the depression. Further, if the height difference value is-1, because the-1 is matched with the difference value range- ∞ -0, determining the difference value range- ∞ -0 as a target difference value range, which indicates that the maximum ground fall value is smaller than a preset height threshold value, the sweeping robot can cross the ground fall, and can operate according to the original scheme, and then determining a first preset operation scheme corresponding to the target difference value range as a target operation scheme; if the height difference is 1, since 1 matches the difference range 0- + ∞, the difference range 0- + ∞isdetermined as the target difference range, and the second preset operation scheme corresponding to the target difference range is determined as the target operation scheme.

According to the embodiment, the target operation scheme is accurately determined according to the height difference value between the maximum ground fall difference value and the preset height threshold value in the ground fall information, so that the sweeping robot can operate according to the determined target operation scheme, the phenomenon that the sweeping robot falls into areas such as hollow lands in the operation process to cause trapping is avoided, and the operation safety of the sweeping robot is improved.

Further, referring to fig. 6, a third embodiment of the operation management method of the sweeping robot of the present invention is provided based on the first embodiment of the operation management method of the sweeping robot of the present invention, and in the third embodiment, the step of calculating the vertical height information of the lidar sensor and the ranging line based on the laser line length information includes:

step S21, detecting the included angle information of the laser line and the plane where the distance measuring line is located;

and step S22, respectively calculating vertical height values between the laser radar sensor and multiple points of the ranging line according to the included angle information and multiple laser line length values in the laser line length information, and forming vertical height information by using the multiple vertical height values.

Further, referring to fig. 7, fig. 7 is a schematic view of an operation scene of the sweeping robot in the operation management method of the sweeping robot of the present invention, in the figure, the sweeping robot operates on the ground, a ground fault with a fall of d exists in an operation direction, a laser radar sensor in the sweeping robot emits a laser line to the operation direction through a laser emission head, and a downward viewing angle to the ground in the operation direction exists when the laser emission head emits the laser line, the downward viewing angle is set by a user or by default of a manufacturer, an installation height of the laser radar sensor is h, and an included angle between the laser line and an infrared laser line segment formed by the laser line on the ground is th. After the laser line length information is obtained, in order to accurately obtain the vertical height between the laser radar sensor and the plane where the distance measuring line exists, the sweeping robot obtains the downward viewing angle of the laser emitting head from the internal memory, and calculates the included angle information between the laser line and the plane where the distance measuring line exists through the triangle inner angle and the triangle theorem of 180 degrees. Furthermore, the sweeping robot obtains a trigonometric function, the trigonometric function is combined with included angle information to be respectively calculated with a plurality of laser line length values in the laser line length information, a plurality of vertical height values between planes where the laser radar sensor and each point of the ranging line are located are obtained after calculation is completed, a data set formed by the plurality of vertical height values is determined as vertical height information, ground fall information is calculated conveniently according to the vertical height information, a target operation scheme is determined according to the ground fall information, the sweeping robot is enabled to operate according to the determined target operation scheme, the phenomenon that the robot falls into areas such as hollow lands in the operation process to cause trapping is avoided, and the operation safety of the sweeping robot is improved.

Further, the step of respectively calculating vertical height values between the laser radar sensor and a plurality of points of the ranging line according to the included angle information and a plurality of laser line length values in the laser line length information, and forming vertical height information from the plurality of vertical height values includes:

step S221, for a plurality of laser line length values in the laser line length information, respectively executing the following steps:

step S222, obtaining a trigonometric function, and inputting the included angle information and the laser line length value into the trigonometric function;

and step S223, calculating the included angle information and the laser line length value according to the trigonometric function to obtain the vertical height values of the laser radar sensor and the point corresponding to the laser line length value in the plurality of points of the ranging line.

Further, after the included angle information of the laser line and the plane where the ranging line is located is obtained, the sweeping robot respectively executes the following steps for a plurality of laser line length values in the laser line length information: the method for obtaining the trigonometric function through the wireless network or from the internal memory adopts the following steps: d ═ sin (th) × l-h, where h is the mounting height of the lidar sensor and l is the laser line length information; th is the included angle information of the laser line and the ground where the distance measuring line is located, and d is the ground fall. Further, inputting the included angle information and the laser line length value into a trigonometric function d (sin) (th) l-h, and calculating the included angle information and the laser line length value through the trigonometric function to obtain a vertical height value between planes of points of the laser radar sensor and the ranging line, which correspond to the current laser line length value; the sweeping robot executes the step of calculating the vertical height value for multiple times until multiple vertical height values of the laser radar sensor and each point on the ranging line are obtained, so that multiple ground fall values are calculated according to the vertical height information formed by the multiple vertical height values and the installation height of the laser radar sensor, and a target operation scheme is determined according to the ground fall information formed by the multiple ground fall values. For example: if the included angle information th between the laser line and the ground where the distance measuring line is located is 30 degrees, the length value l of the laser line at one point on the distance measuring line is 30cm, and h is 10cm, the data of 30 degrees, 30cm, 10cm and the like are input into a trigonometric function d ═ sin (th) × l-h for calculation, and the vertical height value of 5cm is obtained.

The embodiment passes through laser line length information, the contained angle information of the plane that laser line and range finding line are located, and combine trigonometric function accurately to calculate the vertical height information between the plane that laser radar sensor and each point on the range finding line are located, with the ground fall information of calculating through vertical height information and laser radar sensor's installation height, and determine the target operation scheme according to ground fall information, the robot of conveniently sweeping the floor operates according to the target operation scheme that determines, avoid falling in the operation in-process in the region such as hollow ground and leading to being stranded, promote the operation security of the robot of sweeping the floor.

Further, referring to fig. 8, a fourth embodiment of the operation management method of the sweeping robot of the present invention is provided based on the first embodiment of the operation management method of the sweeping robot of the present invention, and in the fourth embodiment, the step of detecting whether the distance measuring line exists in the operation direction includes:

step S11, detecting whether an infrared laser segment exists in the running direction through an infrared camera;

and step S12, if the infrared laser line segment exists, judging that a distance measuring line exists.

Further, the sweeping robot calls an infrared camera arranged inside, whether an infrared laser line segment exists in the running direction is detected through the infrared camera, specifically, the sweeping robot shoots an image to the ground in the running direction through the infrared camera, further, the sweeping robot detects whether the infrared laser line segment exists in the shot image, if the infrared laser line segment exists in the shot image after detection, the fact that the laser line emitted by a laser emitting head in a laser radar sensor irradiates the ground in the running direction is determined, it is determined that a distance measuring line exists in the running direction, so that the ground fall is calculated when the distance measuring line exists, and a target running scheme is determined according to the ground fall.

Further, ground is examined the sensor in being provided with in the robot of sweeping the floor, including after the step of detecting whether the traffic direction has the range finding line:

and step S13, if the distance measuring line does not exist, the ground fall is judged to be infinite, the sweeping robot is controlled to reduce the running speed, the ground detection sensor is called to detect the target ground fall of the ground in the running direction, and if the ground detection sensor cannot return after entering the area where the target ground fall is located, a ground detection signal is triggered to give an early warning prompt.

Further, if it is determined through detection that a distance measuring line in the form of an infrared laser line segment does not exist in the running direction, the floor sweeping robot determines that the ground fall is infinite after determining that the laser emitting head does not have a fault. The falling height of the ground is infinite, so that falling areas such as cliffs and the like may exist in front of the running direction, and if the sweeping robot enters the falling areas, the sweeping robot may be damaged, so that the running speed of the sweeping robot is reduced through the controller. And a ground detection sensor is further called, the running direction is accurately detected through the ground detection sensor to obtain a target ground fall representing the fall between the ground detection sensor and the ground in a falling area, whether the floor sweeping robot enters the falling area with the fall height being the target ground fall can be analyzed, if the floor sweeping robot cannot return after being analyzed and determined to enter the area with the target ground fall, a ground detection signal is triggered to carry out early warning prompt, understandably, the ground detection signal can be a voice signal and/or an indicator light signal, a loudspeaker or an indicator light can be arranged in the floor sweeping robot, when the floor sweeping robot cannot return after being analyzed and determined to enter the area with the target ground fall, the floor sweeping robot outputs early warning information in the form of the voice signal through the loudspeaker, and/or outputs the early warning information existing in the form of the indicator light signal through the indicator light, for example, by controlling the red indicator light to flash.

step S131, detecting whether the laser emitting head has a fault;

and step S132, if the laser emitting head has no fault, judging that the ground fall is infinite.

Further, when the distance measuring line does not exist, in order to ensure the operation safety, the sweeping robot firstly detects whether the laser emitting head has a fault, if the laser emitting head has the fault, the sweeping robot is controlled to stop operating, and fault information is sent to the app in the mobile terminal, so that a user can maintain the laser emitting head conveniently, and the operation safety of the sweeping robot is ensured; if the laser emitting head is determined to have no fault through detection, the fact that the laser rays emitted by the laser emitting head irradiate the ground which cannot be detected by the infrared camera is indicated, and the sweeping robot judges that the ground fall is infinite.

step S14, shooting the laser line through an infrared camera to obtain a laser line image;

and step S15, detecting the laser line image according to a built-in algorithm to obtain a plurality of laser line length values between each point on the ranging line and the laser emitting head, and forming laser line length information by the laser line length values.

Further, the robot of sweeping the floor calls infrared camera, shoots the laser line of laser emission head transmission through infrared camera to form the laser line image that contains many laser lines that form between each point on the range finding line and the laser emission head. Further, the sweeping robot acquires a built-in algorithm from an internal memory, detects the shot laser line image through the built-in algorithm, specifically, the sweeping robot identifies a plurality of laser lines in the laser line image through the built-in algorithm, respectively calculates laser line length values of the plurality of laser lines, and uses a data set formed by the laser line length values as laser line length information between each point on the ranging line and the laser emitting head, so as to calculate ground fall information according to the laser line length information and then determine a target operation scheme according to the ground fall information.

Whether the distance measuring line exists in the operation direction is detected, when the distance measuring line exists, the laser line length information between each point on the distance measuring line and the laser emitting head is detected, the ground fall information is calculated according to the laser line length information, the target operation scheme is determined according to the ground fall information, the sweeping robot can conveniently operate according to the determined target operation scheme, the phenomenon that the sweeping robot falls into areas such as hollow lands in the operation process to cause trapping is avoided, and the operation safety of the sweeping robot is improved.

Further, the invention also provides a sweeping robot.

Referring to fig. 9, fig. 9 is a functional module schematic diagram of the sweeping robot according to the first embodiment of the present invention.

The robot of sweeping the floor includes:

thedetection module 10 is used for detecting whether a distance measurement line exists in the running direction, and if the distance measurement line exists, detecting the length information of the laser line between the distance measurement line and the laser emitting head;

acalculation module 20, configured to calculate vertical height information of the lidar sensor and the ranging line based on the laser line length information;

thecalculation module 20 is further configured to obtain an installation height of the laser radar sensor, and calculate ground fall information according to the installation height and the vertical height information;

and the determiningmodule 30 is configured to determine a target operation scheme according to a height difference between the ground fall information and a preset height threshold.

Further, the sweeping robot further comprises:

theidentification module 40 is used for identifying the largest ground fall difference value in the ground fall difference values;

an operation module 50, configured to perform a difference operation on the maximum ground level difference and the preset height threshold, so as to obtain a height difference between the maximum ground level difference and the preset height threshold;

the determiningmodule 30 is further configured to determine a target operation scheme from a preset operation scheme table according to the height difference.

Thedetection module 10 is further configured to detect whether a difference range matching the height difference exists in a preset operation scheme table;

the determiningmodule 30 is further configured to determine, if any target difference range exists in the plurality of difference ranges and is matched with the height difference, a preset operation scheme corresponding to the target difference range as a target operation scheme.

Thedetection module 10 is further configured to detect information of an included angle between the laser line and a plane where the ranging line is located;

thecalculation module 20 is further configured to calculate vertical height values between the laser radar sensor and multiple points of the ranging line according to the included angle information and multiple laser line length values in the laser line length information, and form vertical height information from the multiple vertical height values.

Further, thedetection module 10 includes:

and the control unit is used for controlling the laser radar sensor to emit a laser line through the laser emitting head, forming an infrared laser line segment on the ground in the running direction of the sweeping robot based on the laser line, and determining the infrared laser line segment as a ranging line.

Further, thedetection module 10 further includes:

and the calling unit is used for calling a preset optical device, and scattering the laser line through the optical device, so that the laser line is scattered and then forms an infrared laser line section on the ground in the running direction of the sweeping robot.

Further, thedetection module 10 further includes:

the first detection unit is used for detecting whether an infrared laser line segment exists in the running direction through the infrared camera;

and the first judging unit is used for judging that a distance measuring line exists if the infrared laser line segment exists.

Further, thedetection module 10 further includes:

and the prompting unit is used for judging that the ground fall is infinite if the distance measuring line does not exist, controlling the sweeping robot to reduce the running speed, calling the ground detection sensor to detect the target ground fall of the ground in the running direction, and triggering a ground detection signal to perform early warning prompting if the ground detection sensor cannot return after determining that the ground detection sensor enters the area where the target ground fall is located.

Further, thedetection module 10 further includes:

the second detection unit is used for detecting whether the laser emitting head has a fault or not;

and the second judging unit is used for judging that the ground fall is infinite if the laser emitting head has no fault.

Further, thedetection module 10 further includes:

the shooting unit is used for shooting the laser line through the infrared camera to obtain a laser line image;

and the third detection unit is used for detecting the laser line image according to a built-in algorithm to obtain a plurality of laser line length values between each point on the ranging line and the laser emitting head, and the laser line length information is formed by the laser line length values.

Further, thecalculation module 20 includes:

an execution unit, configured to execute steps S222-S223 for a plurality of laser line length values in the laser line length information, respectively;

the acquisition unit is used for acquiring a trigonometric function and inputting the included angle information and the laser line length value into the trigonometric function;

and the calculation unit is used for calculating the included angle information and the laser line length value according to the trigonometric function to obtain the vertical height of the laser radar sensor and the point corresponding to the laser line length value in a plurality of points of the ranging line.

Further, the determiningmodule 30 includes:

and the operation unit is used for performing difference operation on the plurality of vertical height values in the vertical height information and the installation height respectively to obtain a plurality of ground fall difference values, and the ground fall information is formed by the plurality of ground fall values.

In addition, the present invention also provides a storage medium, which is preferably a computer-readable storage medium, and the storage medium stores a sweeping robot operation management program, and the sweeping robot operation management program, when executed by a processor, implements the steps of the embodiments of the sweeping robot operation management method.

In the embodiments of the sweeping robot and the computer-readable medium of the present invention, all technical features of the embodiments of the sweeping robot operation management method are included, and the description and explanation contents are basically the same as those of the embodiments of the sweeping robot operation management method, and are not repeated herein.

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 an … …" does not exclude the presence of other like elements 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 or a part contributing to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk), and includes a plurality of instructions for enabling a terminal device (which may be a fixed terminal, such as an internet of things smart device including smart homes, such as a smart air conditioner, a smart lamp, a smart power supply, a smart router, etc., or a mobile terminal, including a smart phone, a wearable networked AR/VR device, a smart sound box, an autonomous driving automobile, etc.) to execute the method according to each embodiment 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

1. The running management method of the sweeping robot is characterized by being applied to the sweeping robot, a laser radar sensor is arranged in the sweeping robot, the laser radar sensor emits a laser line through a laser emitting head and forms a distance measuring line in the running direction of the sweeping robot, and the running management method of the sweeping robot comprises the following steps:

2. The operation management method of the sweeping robot according to claim 1, wherein the step of determining the target operation scheme according to the height difference between the ground fall information and the preset height threshold comprises:

3. The operation management method of the sweeping robot according to claim 2, wherein the step of determining the target operation plan from the preset operation plan table according to the height difference value comprises:

4. The method for managing the operation of a sweeping robot according to claim 1, wherein the step of calculating the vertical height information of the lidar sensor and the ranging line based on the laser line length information comprises:

5. The method for managing the operation of the sweeping robot according to claim 4, wherein the step of calculating the vertical height values between the lidar sensor and the plurality of points of the ranging line according to the plurality of laser line length values in the included angle information and the laser line length information respectively comprises:

and calculating the included angle information and the laser line length value according to the trigonometric function to obtain the vertical height values of the laser radar sensor and the point corresponding to the laser line length value in a plurality of points of the ranging line.

6. The operation management method of the sweeping robot according to claim 1, wherein the step of detecting whether the distance measuring line exists in the operation direction comprises the steps of:

7. The operation management method of the sweeping robot according to claim 1, wherein a ground detection sensor is arranged in the sweeping robot, and the step of detecting whether a distance measurement line exists in the operation direction comprises the following steps:

8. A robot of sweeping floor, characterized in that, the robot of sweeping floor includes:

9. A sweeping robot operation management device, characterized in that the sweeping robot operation management device comprises a memory, a processor and a sweeping robot operation management program stored on the memory and operable on the processor, wherein the sweeping robot operation management program, when executed by the processor, implements the steps of the sweeping robot operation management method according to any one of claims 1-7.

10. A storage medium, wherein the storage medium stores thereon a sweeping robot operation management program, and the sweeping robot operation management program, when executed by a processor, implements the steps of the sweeping robot operation management method according to any one of claims 1 to 7.