Method for determining sweeping direction of sweeper and device thereof and sweeper

Abstract

The invention relates to a method for determining sweeping direction of a sweeper and a device thereof and the sweeper. The method comprises the following steps: acquiring point cloud data in a target range through a three-dimensional space sensor, wherein the point cloud data comprises multiple pieces of distance information between the sweeper and an obstacle; extracting a plane in a target range based on the point cloud data; and taking a target plane meeting a preset condition in the planes as a wall surface, and determining a normal direction of the wall surface as a main sweeping direction of the sweeper. The point cloud data of the surrounding environment of the sweeper is collected through the three-dimensional space sensor, the multiple planes in the three-dimensional space are constructed and extracted through the point cloud data, the wall surface is recognized from the multiple planes in the three-dimensional space, then the normal direction of the wall surface serves as the main sweeping direction of the sweeper, and the problems that the wall surface recognition is inaccurate, and the main sweeping direction of the sweeper is not accurately found can be solved.

Description

technical field [0001] The present application relates to the technical field of sweeping robots, in particular to a method and device for determining the sweeping direction of a sweeping machine and the sweeping machine. Background technique [0002] In the process of cleaning the room, the sweeping machine needs to determine the main cleaning direction according to the layout of the room. The sweeping machine moves back and forth in the main cleaning direction, and finally walks out of a bow-like path, thereby realizing the covering and cleaning of the entire room. [0003] At present, in related technologies, for the main cleaning direction of the sweeping robot, the direction of the wall is usually used as a reference. However, in the scheme of applying inertial navigation and visual sweeping machine, since the wall is generally white, the visual sweeping machine can hardly extract the feature point information of the white wall, so the wall finding scheme of the visual ...

AI Technical Summary

Problems solved by technology

This method is more efficient and accurate than the inertial navigation solution, but it also cannot solve the interference of obstacles, and cannot accurately confirm the main cleaning direction of the sweeper, which greatly affects the cleaning efficiency of the sweeper

[0004] For the inaccurate problem of finding the main cleaning direction of the sweeper, no effective solution has been proposed so far

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