Mobile control method, device, cleaning robot and storage medium

Abstract

The present application discloses a mobile control method, device, cleaning robot and storage medium. The method includes: obtaining scanning data of a laser radar of a cleaning robot and image data collected by an image acquisition unit of the cleaning robot; determining a first position of a marking area on a base station relative to the cleaning robot based on the scanning data; and determining a second position of the marking area relative to the cleaning robot based on the image data; the marking area contains a reflective material; based on the first position and the second position, controlling the cleaning robot to move toward the base station so that the cleaning robot returns to the base station position.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a mobile control method, device, cleaning robot and storage medium. Background Art

[0002] With the development of technology, some mobile robots need to automatically return to the base station, such as cleaning robots such as sweepers and mops. Therefore, how to enable the cleaning robot to detect the base station and automatically return to the base station has become an urgent problem to be solved. Summary of the invention

[0003] To solve related technical problems, the embodiments of the present application provide a mobile control method, device, cleaning robot and storage medium.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] The present application provides a mobile control method, including:

[0006] Acquire scanning data of a laser radar of a cleaning robot and image data acquired by an image acquisition unit of the cleaning robot;

[0007] Based on the scan data, determining a first position of a marking area on the base station relative to the cleaning robot; and based on the image data, determining a second position of the marking area relative to the cleaning robot; the marking area includes a reflective material;

[0008] Based on the first position and the second position, the cleaning robot is controlled to move toward the base station so that the cleaning robot returns to the base station position.

[0009] In the above scheme, the scanning data includes reflective intensity information of multiple scanning points; the identification area includes at least two reflective materials with different reflective intensities; and determining the first position of the identification area on the base station relative to the cleaning robot based on the scanning data includes:

[0010] Based on the reflection intensity information of the multiple scanning points, a plurality of first target scanning points are determined from the multiple scanning points; the difference between the reflection intensity of each first target scanning point and the reflection intensity of its next scanning point is greater than or equal to a first threshold;

[0011] The first position is determined based on the determined plurality of first target scanning points.

[0012] In the above scheme, the scanning data further includes distance information between the plurality of scanning points and the cleaning robot; the at least two reflective materials in the identification area are not located in the same plane; the first position is determined based on the determined plurality of first target scanning points, including:

[0013] Based on the plurality of first target scanning points, determining a third position of the identification area relative to the cleaning robot;

[0014] Based on the distance information between the multiple scanning points and the cleaning robot, a plurality of second target scanning points are determined from the multiple scanning points; the difference between the distance between each second target scanning point and the cleaning robot and the distance between its next scanning point and the cleaning robot is greater than or equal to a second threshold value and less than or equal to a third threshold value;

[0015] Based on the plurality of second target scanning points, determining a fourth position of the identification area relative to the cleaning robot;

[0016] The first position is determined using the third position and the fourth position.

[0017] In the above solution, determining the second position of the identification area relative to the cleaning robot based on the image data includes:

[0018] The second position is determined based on the image data and in combination with preset appearance feature data of the identification area.

[0019] In the above solution, controlling the cleaning robot to move toward the base station based on the first position and the second position includes:

[0020] Based on the first position and the second position, in combination with a preset compensation function, determining a fifth position of the base station relative to the cleaning robot;

[0021] The fifth position is used to control the cleaning robot to move toward the base station; wherein,

[0022] The compensation function is generated by using the relative position relationship between the geometric center of the identification area and the geometric center of the base station.

[0023] In the above solution, when controlling the cleaning robot to move toward the base station, the method further includes:

[0024] Periodically acquiring scanning data of the laser radar and image data collected by the image acquisition unit;

[0025] Based on the acquired scan data, updating the first position; and based on the acquired image data, updating the second position;

[0026] Based on the updated first position and second position, the cleaning robot is controlled to move toward the base station.

[0027] In the above scheme, the method further includes:

[0028] After determining that the cleaning robot is successfully docked with the base station, detecting whether the cleaning robot is in a charging state;

[0029] When it is detected that the cleaning robot is not in a charging state, it is determined that the base station is faulty; and fault information is issued; the fault information is used to prompt that the base station is faulty.

[0030] The present application also provides a mobile control device, including:

[0031] An acquisition unit, used to acquire scanning data of a laser radar of a cleaning robot and image data acquired by an image acquisition unit of the cleaning robot;

[0032] a first processing unit, configured to determine a first position of a marking area on a base station relative to the cleaning robot based on the scanning data; and to determine a second position of the marking area relative to the cleaning robot based on the image data; the marking area comprising a reflective material;

[0033] The second processing unit is used to control the cleaning robot to move toward the base station based on the first position and the second position, so that the cleaning robot returns to the base station position.

[0034] The embodiment of the present application further provides a cleaning robot, comprising: a processor and a memory for storing a computer program that can be run on the processor,

[0035] Wherein, the processor is used to execute the steps of any of the above methods when running the computer program.

[0036] An embodiment of the present application further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0037] The mobile control method, device, cleaning robot and storage medium provided in the embodiment of the present application obtain the scanning data of the laser radar of the cleaning robot and the image data collected by the image acquisition unit of the cleaning robot; based on the scanning data, determine the first position of the identification area on the base station relative to the cleaning robot; and based on the image data, determine the second position of the identification area relative to the cleaning robot; the identification area contains reflective material; based on the first position and the second position, control the cleaning robot to move toward the base station so that the cleaning robot returns to the base station position. The scheme of the embodiment of the present application determines the position of the identification area containing reflective material on the base station relative to the cleaning robot based on the scanning data of the laser radar of the cleaning robot and the image data collected by the image acquisition unit, and controls the cleaning robot to move toward the base station based on the determined position; in this way, the cleaning robot can detect the base station and automatically return to the base station position when it needs to return to the base station position, thereby improving the user experience; at the same time, the process of the cleaning robot automatically returning to the base station position does not require the guidance of the base station, in other words, there is no need to install a signal transmission sensor on the base station, thereby reducing the production cost of the base station of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A flow chart of a mobile control method according to an embodiment of the present application;

[0039] Figure 2 A structural schematic diagram of the identification area of ​​the embodiment of the present application;

[0040] Figure 3 This is a schematic diagram of the change in the reflection intensity of the scanning point in the embodiment of the present application;

[0041] Figure 4 Another structural schematic diagram of the identification area of ​​the embodiment of the present application;

[0042] Figure 5 This is a schematic diagram of the structure of a mobile control device according to an embodiment of the present application;

[0043] Figure 6 This is a schematic diagram of the structure of the cleaning robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0044] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0045] In order to enable the cleaning robot to detect the base station and automatically return to the base station, it is possible to consider setting a barcode, QR code or other product identification on the base station. When the cleaning robot needs to return to the base station, it can determine the base station's relative position to itself by detecting the product identification and automatically move to the base station. However, although barcodes, QR codes and other product identifications can contain obvious appearance features and rich product information, they are usually easy to identify and have a very low false positive rate, but they are limited by the structure of the cleaning robot and the resolution and measurement range of the sensors installed on the cleaning robot. The above solution is difficult to implement.

[0046] In actual application, it is also possible to consider having the cleaning robot detect the position of the base station relative to itself based on the geometric features of the base station (i.e., the shape of the base station). For example, the cleaning robot can scan its own environment through a laser radar, and determine the position of the base station relative to itself based on the obtained scanning data. When a straight line can be determined based on the obtained scanning data, the cleaning robot can determine a plane, and when an arc can be determined based on the obtained scanning data, the cleaning robot can determine a curved surface. However, since the cleaning robot may be in a more complex environment, the accuracy of detecting the position of the base station relative to itself using the above solution may be low.

[0047] In actual application, it is also possible to consider installing infrared sensors on the cleaning robot and the base station respectively, and guide the cleaning robot to dock with the base station through the interaction of infrared signals between the cleaning robot and the base station, that is, guide the cleaning robot back to the base station. However, the consistency and stability of infrared sensors during the production process and the consistency during the installation process are difficult to guarantee; and during use, infrared signals are prone to abnormal conditions such as interference and reflection, and the risk of device damage is high.

[0048] Based on this, in various embodiments of the present application, a laser radar and an image acquisition unit are installed in the cleaning robot, and the position of the identification area containing reflective material on the base station relative to the cleaning robot is determined based on the scanning data of the laser radar and the image data collected by the image acquisition unit, and the cleaning robot is controlled to move toward the base station based on the determined position; in this way, the cleaning robot can detect the base station and automatically return to the base station when it needs to return to the base station position, thereby improving the user experience; at the same time, the process of the cleaning robot automatically returning to the base station position does not require the guidance of the base station. In other words, there is no need to install a signal transmitting sensor on the base station, thereby reducing the production cost of the base station of the cleaning robot.

[0049] The present application embodiment provides a mobile control method, such as Figure 1 As shown, the method includes:

[0050] Step 101: acquiring scanning data of a laser radar of a cleaning robot and image data collected by an image collection unit of the cleaning robot;

[0051] Step 102: Based on the scanning data, determine a first position of the identification area on the base station relative to the cleaning robot; and based on the image data, determine a second position of the identification area relative to the cleaning robot;

[0052] Here, the identification area includes a reflective material;

[0053] Step 103: Based on the first position and the second position, control the cleaning robot to move toward the base station, so that the cleaning robot returns to the base station position.

[0054] Here, after the cleaning robot returns to the position of the base station, the base station may perform maintenance on the cleaning robot, which may specifically include at least one of the following:

[0055] charging the cleaning robot;

[0056] Performing fault detection on the cleaning robot;

[0057] Performing fault repair on the cleaning robot;

[0058] cleaning the cleaning robot;

[0059] Replace designated parts for the cleaning robot.

[0060] Of course, in actual application, the cleaning robot may be maintained in other ways, which are not limited in the embodiments of the present application.

[0061] In actual application, the cleaning robot may be a sweeper, a mop, etc.

[0062] In addition, it should be noted that in various embodiments of the present application, the position can be understood as the coordinates in the lidar coordinate system, expressed as a two-dimensional spatial posture (x, y, theta); of course, it can also be the coordinates of other maps set in the cleaning robot, the coordinates of the map generated by the cleaning robot, and other information that can represent the position, and the embodiments of the present application are not limited to this.

[0063] In step 101, in actual application, the laser radar may be a single-line laser radar, and the image acquisition unit may be a camera. Of course, other types of laser radars (such as multi-line laser radars) and image acquisition units (such as three-dimensional (3D) cameras) may be provided as required, and this embodiment of the application is not limited thereto.

[0064] In actual application, the cleaning robot can perform a 360-degree scan of the environment in which it is located through a laser radar to obtain the scanning data; and can control the image acquisition unit to capture a panoramic image of the environment in which it is located while controlling itself to rotate in situ to obtain the image data.

[0065] In actual application, the scanning data can be acquired first, and after determining the first position based on the scanning data, the cleaning robot can be controlled to adjust its posture based on the first position, so that the cleaning robot can acquire the image data containing the image information of the base station through the image acquisition unit, and then acquire the image data, and determine the second position based on the image data.

[0066] In step 102, in actual application, the structure of the identification area and the type of reflective material included can be set according to the appearance and material of the base station, the application scenario of the cleaning robot, the characteristics (i.e., type) of the laser radar and image acquisition unit of the cleaning robot, etc. For example, in order to improve the accuracy of the first position determined, when the shell of the base station includes the first reflective material, the second reflective material can be arranged at intervals in the identification area, where the reflective intensity of the second reflective material is higher than the reflective intensity of the first reflective material; when the shell of the base station includes the second reflective material, the first reflective material can be arranged at intervals in the identification area; when the shell of the base station includes the third reflective material, the first reflective material and the second reflective material can be arranged at intervals in the identification area, where the reflective intensity of the third reflective material is higher than the first reflective material and lower than the second reflective material. For another example, when the cleaning robot is a mopping machine, it is necessary to set a waterproof reflective material in the identification area.

[0067] In actual application, the shape and size of the reflective material can also be set according to the size of the base station, the characteristics (i.e., type) of the laser radar and image acquisition unit of the cleaning robot, and other requirements. Figure 2 As shown, square pieces of the first reflective material and the second reflective material may be arranged in the identification area at intervals, and the width of each square piece of reflective material may be the same or different.

[0068] Based on this, in one embodiment, the scanning data may include reflective intensity information of multiple scanning points; the identification area may include at least two reflective materials with different reflective intensities;

[0069] Accordingly, determining the first position of the identification area on the base station relative to the cleaning robot based on the scanning data may include:

[0070] Based on the reflection intensity information of the multiple scanning points, a plurality of first target scanning points are determined from the multiple scanning points; the difference between the reflection intensity of each first target scanning point and the reflection intensity of its next scanning point is greater than or equal to a first threshold;

[0071] The first position is determined based on the determined plurality of first target scanning points.

[0072] Here, the scanning points refer to all the points scanned by the laser radar in the environment where the cleaning robot is located. In other words, the scanning points refer to the points on the surface of objects in the environment where the cleaning robot is located that can reflect laser.

[0073] In practical application, the difference between the reflective intensity of each first target scanning point and the reflective intensity of its next scanning point is greater than or equal to the first threshold, which can be understood as: the reflective intensity difference between the at least two reflective materials included in the identification area is greater than or equal to the first threshold. In other words, the first target scanning point can be understood as a scanning point on the boundary of each reflective material in the identification area.

[0074] In actual application, the first threshold can be set according to requirements.

[0075] In actual application, a preset pattern matching algorithm or the like can be used to detect the changing edge of the reflection intensity of each scanning point in the scanning data from strong to weak and from weak to strong, so as to obtain the plurality of first target scanning points. Figure 3 As shown, the horizontal axis can represent the index of the scanning point, and the vertical axis can represent the reflection intensity of the scanning point. Figure 3 Four reflection intensity change edges can be determined, that is, four first target scanning points can be determined.

[0076] In actual application, after determining multiple first target scanning points, the position of each first target scanning point relative to the cleaning robot can be determined, and then the first position can be determined based on the position of each first target scanning point relative to the cleaning robot.

[0077] In practical applications, in order to further improve the accuracy of determining the first position, the at least two reflective materials with different reflective intensities contained in the identification area may be arranged on different planes. In other words, the at least two reflective materials may be arranged alternately in the horizontal depth direction of the base station. Figure 4As shown, the first and second reflective materials in square shape can be arranged at intervals in the identification area. From the front view of the identification area, it can be seen that the width of each square reflective material can be the same or different; from the top view of the identification area, it can be seen that the first reflective material and the second reflective material are not in the same plane. At this time, in the scanning data, the distance between the scanning point corresponding to the second reflective material and the cleaning robot is greater than the distance between the scanning point corresponding to the first reflective material and the cleaning robot.

[0078] Based on this, in one embodiment, the scanning data may also include distance information between multiple scanning points and the cleaning robot; at least two reflective materials in the identification area are not located in the same plane;

[0079] Determining the first position based on the determined plurality of first target scanning points may include:

[0080] Based on the plurality of first target scanning points, determining a third position of the identification area relative to the cleaning robot;

[0081] Based on the distance information between the multiple scanning points and the cleaning robot, a plurality of second target scanning points are determined from the multiple scanning points; the difference between the distance between each second target scanning point and the cleaning robot and the distance between its next scanning point and the cleaning robot is greater than or equal to a second threshold value and less than or equal to a third threshold value;

[0082] Based on the plurality of second target scanning points, determining a fourth position of the identification area relative to the cleaning robot;

[0083] The first position is determined using the third position and the fourth position.

[0084] In actual application, if it is determined according to the scanning data that at least two reflective materials in the identification area are located in the same plane, that is, it is determined that each first target scanning point is at the same distance from the cleaning robot, then the first position can be directly determined using the multiple first target scanning points. If it is determined according to the scanning data that at least two reflective materials in the identification area are not located in the same plane, that is, it is determined that each first target scanning point is at a different distance from the cleaning robot, then it is necessary to verify the accuracy of the multiple first target scanning points, that is, to determine multiple second target scanning points.

[0085] Here, the second target scanning point can also be understood as a scanning point on the boundary of each reflective material in the identification area. When the calculation is accurate, the multiple first target scanning points are the same as the multiple second target scanning points. When the multiple first target scanning points are not completely the same as the multiple second target scanning points, it means that there is an error in the calculation. Therefore, it is necessary to combine the multiple first target scanning points with the multiple second target scanning points to determine the first position.

[0086] In actual application, the difference between the distance between each second target scanning point and the cleaning robot and the distance between its next scanning point and the cleaning robot is greater than or equal to the second threshold and less than or equal to the third threshold. It can be understood that the distance difference between at least two reflective materials contained in the identification area and the cleaning robot is greater than or equal to the second threshold and less than or equal to the third threshold.

[0087] In actual application, the second threshold and the third threshold can be set according to requirements.

[0088] In actual application, in the process of determining the first position by combining the multiple first target scanning points and the multiple second target scanning points, the third position can be determined based on the position of each first target scanning point relative to the cleaning robot; and then the fourth position can be determined based on the position of each second target scanning point relative to the cleaning robot; finally, the first position can be determined by using the third position and the fourth position in combination with a pre-trained deep learning model, a pre-set filtering algorithm, averaging, etc.

[0089] In actual application, in order to further improve the accuracy of the determined first position, after determining the third position and the fourth position, the geometric features of the identification area, such as width information, can be extracted based on the scanning data; then the sixth position of the identification area relative to the cleaning robot is determined based on the geometric features of the identification area, and the first position is determined by using the third position, the fourth position and the sixth position in combination with a pre-trained deep learning model, a pre-set filtering algorithm, averaging, etc.

[0090] In actual application, the appearance feature data of the marked area may be pre-set in the cleaning robot, and the second position may be determined based on the appearance feature data.

[0091] Based on this, in one embodiment, determining the second position of the identification area relative to the cleaning robot based on the image data may include:

[0092] The second position is determined based on the image data and in combination with preset appearance feature data of the identification area.

[0093] In actual application, the image data of the identification area (which may include the shape, color, and other data of each reflective material) can be used to train a deep learning model, and the appearance feature data of the identification area can be obtained based on the deep learning model. Of course, other methods can also be used to determine the appearance feature data of the identification area according to needs, and this embodiment of the application is not limited to this.

[0094] In actual application, the second position can be determined based on the image data and the preset appearance feature data of the identification area by using a pre-trained deep learning model, a pre-set feature matching algorithm, etc.

[0095] In step 103, in actual application, the position of the identification area set at the base station (i.e., the geometric center of the identification area) may correspond to the geometric center of the base station. In other words, the identification area can be symmetrically arranged based on a central axis of the shell of the base station. At this time, after determining the first position and the second position, the first position and the second position can be directly used, combined with a pre-trained deep learning model, a pre-set filtering algorithm, averaging, etc., to determine the fifth position of the base station (i.e., the geometric center of the base station) relative to the cleaning robot, and the fifth position can be used to control the cleaning robot to move toward the base station; in other words, since the identification area is symmetrically arranged based on a central axis of the shell of the base station, the first position and the second position can be directly used to control the cleaning robot to dock with the base station accurately, that is, to control the cleaning robot to accurately return to the base station position.

[0096] In actual application, the identification area may not be symmetrically centered based on a central axis of the shell of the base station, but may be set at other positions that can be scanned by the laser radar and do not correspond to the geometric center of the base station (for example, it is asymmetrically set based on a central axis of the shell of the base station). In this case, when controlling the cleaning robot to move toward the base station, it is necessary to compensate for the offset of the geometric center of the identification area relative to the geometric center of the base station.

[0097] Based on this, in one embodiment, controlling the cleaning robot to move toward the base station based on the first position and the second position may include:

[0098] Based on the first position and the second position, in combination with a preset compensation function, determining a fifth position of the base station relative to the cleaning robot;

[0099] The fifth position is used to control the cleaning robot to move toward the base station; wherein,

[0100] The compensation function is generated by using the relative position relationship between the geometric center of the identification area and the geometric center of the base station.

[0101] In actual application, in order to improve the accuracy of the docking between the cleaning robot and the base station, the position of the base station relative to itself can be detected in real time during the movement of the cleaning robot towards the base station, so that the position of the base station relative to itself is constantly updated and converges to a more stable result, thereby controlling the cleaning robot to dock with the base station more accurately.

[0102] Based on this, in one embodiment, when controlling the cleaning robot to move toward the base station, the method may further include:

[0103] Periodically acquiring scanning data of the laser radar and image data collected by the image acquisition unit;

[0104] Based on the acquired scan data, updating the first position; and based on the acquired image data, updating the second position;

[0105] Based on the updated first position and second position, the cleaning robot is controlled to move toward the base station.

[0106] In actual application, the period for acquiring the scanning data of the laser radar and the image data collected by the image acquisition unit can be set according to demand, such as 100 milliseconds (mm).

[0107] Specifically, in actual application, when the identification area is symmetrically arranged based on a central axis of the shell of the base station, the control of the cleaning robot to move toward the base station based on the updated first position and the second position may include: using the updated first position and the second position, combined with a pre-trained deep learning model, a pre-set filtering algorithm, averaging, etc., to determine the updated fifth position, and using the updated fifth position to control the cleaning robot to move toward the base station. When the identification area is not symmetrically arranged based on a central axis of the shell of the base station, the control of the cleaning robot to move toward the base station based on the updated first position and the second position may include: based on the updated first position and the second position, combined with a preset compensation function, to determine the updated fifth position, and using the updated fifth position to control the cleaning robot to move toward the base station.

[0108] In actual application, after determining the fifth position, the cleaning robot can use a preset path planning algorithm to determine the moving path; and move toward the base station based on the determined moving path.

[0109] In actual application, an obstacle avoidance algorithm can be pre-set based on the shell shape of the base station (such as a base station with a U-shaped shell), and the cleaning robot can be controlled to move toward the base station based on the obstacle avoidance algorithm, so that the cleaning robot can fine-tune the docking direction with the base station left and right to avoid colliding with the edge of the base station and causing damage to the base station shell or malfunction.

[0110] In actual application, the base station may have faults such as a loose socket, making it impossible to maintain the cleaning robot. The cleaning robot can determine whether it is receiving maintenance from the base station by detecting its own status, thereby determining whether the base station has a fault.

[0111] Based on this, in one embodiment, the method may further include:

[0112] After determining that the cleaning robot is successfully docked with the base station, detecting whether the cleaning robot is in a charging state;

[0113] When it is detected that the cleaning robot is not in a charging state, it is determined that the base station is faulty; and fault information is issued; the fault information is used to prompt that the base station is faulty.

[0114] In actual application, the method for determining whether the cleaning robot is successfully docked with the base station can be set according to needs, such as determining whether the cleaning robot is successfully docked with the base station through sensors such as laser radar and image acquisition unit. The embodiment of the present application does not limit this.

[0115] In actual application, the method of detecting whether the cleaning robot is in a charging state can also be set according to needs, such as detecting whether there is an input current in the battery of the cleaning robot. The embodiment of the present application is not limited to this.

[0116] In actual application, the fault information can be sent to the user terminal to prompt the user that the base station has a fault; of course, the fault information can also be sent to the indicator light control unit of the cleaning robot, and prompt the user that the base station has a fault in the form of an indicator light. The specific device for receiving the fault information can be set according to needs, and this embodiment of the application is not limited to this.

[0117] In actual application, other signal emitting sensors, such as infrared sensors, may be installed on the cleaning robot and the base station, respectively, and the cleaning robot may be controlled to return to the base station position in combination with the other installed signal emitting sensors. Of course, after the cleaning robot successfully docks with the base station based on the scanning data and the image data, if the cleaning robot determines that no signal (such as infrared signal) sent by the base station is received during the entire process of returning to the base station position, it may be determined that the cleaning robot and / or other signal emitting sensors (such as infrared sensors) on the base station are faulty, and a fault message may be issued to indicate that the cleaning robot and / or other signal emitting sensors on the base station are faulty.

[0118] The mobile control method provided in the embodiment of the present application obtains scanning data of the laser radar of the cleaning robot and image data collected by the image acquisition unit of the cleaning robot; based on the scanning data, determines the first position of the identification area on the base station relative to the cleaning robot; and based on the image data, determines the second position of the identification area relative to the cleaning robot; the identification area contains reflective material; based on the first position and the second position, controls the cleaning robot to move toward the base station so that the cleaning robot returns to the base station position. The solution of the embodiment of the present application determines the position of the identification area containing reflective material on the base station relative to the cleaning robot based on the scanning data of the laser radar of the cleaning robot and the image data collected by the image acquisition unit, and controls the cleaning robot to move toward the base station based on the determined position; in this way, the cleaning robot can detect the base station and automatically return to the base station when it needs to return to the base station position, thereby improving the user experience; at the same time, the process of the cleaning robot automatically returning to the base station position does not require the guidance of the base station. In other words, there is no need to install a signal transmitting sensor on the base station. It is only necessary to set a identification area containing low-cost reflective material on the base station to make the cleaning robot automatically return to the base station position. Therefore, the production cost of the base station of the cleaning robot can be reduced; in addition, since the reflective material is not easily damaged, the damage rate of the identification area can be reduced, thereby extending the service life of the base station of the cleaning robot and further improving the user experience.

[0119] In addition, the mobile control method provided in the embodiment of the present application enables the cleaning robot to identify different types of base stations (different types of base stations can be set with different identification areas). At the same time, the cleaning robot moves toward the base station based on the preset path planning algorithm and obstacle avoidance algorithm, and can dock with the base station accurately, smoothly, and without collision (i.e., successfully return to the base station position). Moreover, by judging its own state, the cleaning robot can detect whether it is receiving maintenance from the base station, thereby determining whether the base station has a fault.

[0120] In actual applications, some cleaning robots are equipped with laser radars and image acquisition units, such as sweepers. The mobile control method provided in the embodiment of the present application does not require modification of the hardware structure of the cleaning robot, saving the cost of hardware modification. It can be achieved only through software control. The solution is simple to implement and has strong scalability.

[0121] In order to implement the method of the embodiment of the present application, the embodiment of the present application also provides a mobile control device, which is arranged on the cleaning robot, such as Figure 5 As shown, the device comprises:

[0122] An acquisition unit 501 is used to acquire scanning data of a laser radar of a cleaning robot and image data acquired by an image acquisition unit of the cleaning robot;

[0123] A first processing unit 502 is used to determine a first position of a marking area on a base station relative to the cleaning robot based on the scanning data; and to determine a second position of the marking area relative to the cleaning robot based on the image data; the marking area includes a reflective material;

[0124] The second processing unit 503 is used to control the cleaning robot to move toward the base station based on the first position and the second position, so that the cleaning robot returns to the base station position.

[0125] In one embodiment, the scanning data includes reflective intensity information of multiple scanning points; the identification area includes at least two reflective materials with different reflective intensities; the first processing unit 502 is specifically used to:

[0126] Based on the reflection intensity information of the multiple scanning points, a plurality of first target scanning points are determined from the multiple scanning points; the difference between the reflection intensity of each first target scanning point and the reflection intensity of its next scanning point is greater than or equal to a first threshold;

[0127] The first position is determined based on the determined plurality of first target scanning points.

[0128] In one embodiment, the scanning data further includes distance information between the plurality of scanning points and the cleaning robot; the at least two reflective materials in the identification area are not located in the same plane; the first processing unit 502 is specifically used to:

[0129] Based on the plurality of first target scanning points, determining a third position of the identification area relative to the cleaning robot;

[0130] Based on the distance information between the multiple scanning points and the cleaning robot, a plurality of second target scanning points are determined from the multiple scanning points; the difference between the distance between each second target scanning point and the cleaning robot and the distance between its next scanning point and the cleaning robot is greater than or equal to a second threshold value and less than or equal to a third threshold value;

[0131] Based on the plurality of second target scanning points, determining a fourth position of the identification area relative to the cleaning robot;

[0132] The first position is determined using the third position and the fourth position.

[0133] In one embodiment, the first processing unit 502 is specifically configured to determine the second position based on the image data in combination with preset appearance feature data of the identification area.

[0134] In one embodiment, the second processing unit 503 is specifically configured to:

[0135] Based on the first position and the second position, in combination with a preset compensation function, determining a fifth position of the base station relative to the cleaning robot;

[0136] The fifth position is used to control the cleaning robot to move toward the base station; wherein,

[0137] The compensation function is generated by using the relative position relationship between the geometric center of the identification area and the geometric center of the base station.

[0138] In one embodiment, when the second processing unit 503 controls the cleaning robot to move toward the base station, the acquisition unit 501 is further used to periodically acquire the scanning data of the laser radar and the image data acquired by the image acquisition unit;

[0139] The first processing unit 502 is further configured to update the first position based on the acquired scan data; and update the second position based on the acquired image data;

[0140] The second processing unit 503 is further configured to control the cleaning robot to move toward the base station based on the updated first position and the second position.

[0141] In one embodiment, the device further comprises:

[0142] a detection unit, configured to detect whether the cleaning robot is in a charging state after the cleaning robot is successfully docked with the base station;

[0143] The sending unit is used to determine that the base station is faulty when the detection unit detects that the cleaning robot is not in a charging state; and send out fault information; the fault information is used to prompt that the base station is faulty.

[0144] In actual application, the acquisition unit 501, the first processing unit 502, the second processing unit 503 and the detection unit can be implemented by a processor in a mobile control device; the sending unit can be implemented by a processor in a mobile control device in combination with a communication interface.

[0145] It should be noted that: the mobile control device provided in the above embodiment only uses the division of the above program modules as an example to illustrate when controlling the movement of the cleaning robot. In actual application, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program modules to complete all or part of the processing described above. In addition, the mobile control device provided in the above embodiment and the mobile control method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0146] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiment of the present application, the embodiment of the present application also provides a cleaning robot, such as Figure 6 As shown, the cleaning robot 600 includes:

[0147] Communication interface 601, capable of exchanging information with other electronic devices;

[0148] A processor 602, connected to the communication interface 601 to implement information interaction with other electronic devices, and used to execute the method provided by one or more of the above technical solutions when running a computer program;

[0149] The memory 603 stores computer programs that can be executed on the processor 602 .

[0150] Specifically, the processor 602 is configured to:

[0151] Acquire scanning data of the laser radar of the cleaning robot 600 and image data acquired by the image acquisition unit of the cleaning robot 600;

[0152] Based on the scanning data, determining a first position of a marking area on the base station relative to the cleaning robot 600; and based on the image data, determining a second position of the marking area relative to the cleaning robot 600; the marking area includes a reflective material;

[0153] Based on the first position and the second position, the cleaning robot 600 is controlled to move toward the base station so that the cleaning robot 600 returns to the base station position.

[0154] In one embodiment, the scanning data includes reflective intensity information of multiple scanning points; the identification area includes at least two reflective materials with different reflective intensities; the processor 602 is further used to:

[0155] Based on the reflection intensity information of the multiple scanning points, a plurality of first target scanning points are determined from the multiple scanning points; the difference between the reflection intensity of each first target scanning point and the reflection intensity of its next scanning point is greater than or equal to a first threshold;

[0156] The first position is determined based on the determined plurality of first target scanning points.

[0157] In one embodiment, the scanning data further includes distance information between the plurality of scanning points and the cleaning robot 600; the at least two reflective materials in the identification area are not located in the same plane; the processor 602 is further configured to:

[0158] Based on the plurality of first target scanning points, determining a third position of the identification area relative to the cleaning robot 600;

[0159] Based on the distance information between the multiple scanning points and the cleaning robot 600, multiple second target scanning points are determined from the multiple scanning points; the difference between the distance between each second target scanning point and the cleaning robot 600 and the distance between the next scanning point of the second target scanning point and the cleaning robot 600 is greater than or equal to the second threshold value, and less than or equal to the third threshold value;

[0160] Based on the plurality of second target scanning points, determining a fourth position of the identification area relative to the cleaning robot 600;

[0161] The first position is determined using the third position and the fourth position.

[0162] In one embodiment, the processor 602 is further configured to determine the second position based on the image data in combination with preset appearance feature data of the identification area.

[0163] In one embodiment, the processor 602 is further configured to:

[0164] Based on the first position and the second position, in combination with a preset compensation function, determining a fifth position of the base station relative to the cleaning robot 600;

[0165] The fifth position is used to control the cleaning robot 600 to move toward the base station; wherein,

[0166] The compensation function is generated by using the relative position relationship between the geometric center of the identification area and the geometric center of the base station.

[0167] In one embodiment, the processor 602 is further configured to:

[0168] Periodically acquiring scanning data of the laser radar and image data collected by the image acquisition unit;

[0169] Based on the acquired scan data, updating the first position; and based on the acquired image data, updating the second position;

[0170] Based on the updated first position and second position, the cleaning robot 600 is controlled to move toward the base station.

[0171] In one embodiment, the processor 602 is further configured to:

[0172] After determining that the cleaning robot 600 is successfully docked with the base station, detecting whether the cleaning robot 600 is in a charging state;

[0173] When it is detected that the cleaning robot 600 is not in a charging state, it is determined that the base station is faulty; and fault information is sent through the communication interface 601; the fault information is used to prompt that the base station is faulty.

[0174] It should be noted that: the specific process of the processor 602 performing the above operations is detailed in the method embodiment, which will not be repeated here.

[0175] Of course, in actual application, the various components in the cleaning robot 600 are coupled together through the bus system 604. It can be understood that the bus system 604 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 604 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 6 Various buses are labeled as bus system 604 .

[0176] The memory 603 in the embodiment of the present application is used to store various types of data to support the operation of the cleaning robot 600. Examples of such data include: any computer program used to operate on the cleaning robot 600.

[0177] The method disclosed in the above embodiment of the present application can be applied to the processor 602, or implemented by the processor 602. The processor 602 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 602. The above processor 602 may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 602 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiment of the present application, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in the memory 603, and the processor 602 reads the information in the memory 603 and completes the steps of the above method in combination with its hardware.

[0178] In an exemplary embodiment, the cleaning robot 600 can be implemented by one or more application-specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD), field-programmable gate array (FPGA), general-purpose processor, controller, microcontroller (MCU), microprocessor, or other electronic components to execute the aforementioned method.

[0179] It can be understood that the memory 603 of the embodiment of the present application can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAMbus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory described in the embodiments of the present application is intended to include, but is not limited to, these and any other suitable types of memory.

[0180] In an exemplary embodiment, the present application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, for example, a memory 603 storing a computer program, and the computer program can be executed by a processor 602 of a cleaning robot 600 to complete the steps of the aforementioned method. The computer-readable storage medium can be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface storage, optical disk, or CD-ROM.

[0181] It should be noted that: "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0182] In addition, the technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.

[0183] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application.

Claims

1. A mobile control method, characterized in that: include: Acquire scanning data of a laser radar of a cleaning robot and image data acquired by an image acquisition unit of the cleaning robot; Based on the scan data, determining a first position of a marking area on the base station relative to the cleaning robot; and based on the image data, determining a second position of the marking area relative to the cleaning robot; the marking area includes a reflective material; Based on the first position and the second position, controlling the cleaning robot to move toward the base station, When controlling the cleaning robot to move toward the base station, periodically acquiring scanning data of the laser radar and image data acquired by the image acquisition unit; updating the first position based on the acquired scanning data; and updating the second position based on the acquired image data; Based on the updated first position and the second position, in combination with a preset compensation function, determining a fifth position of the base station relative to the cleaning robot; The fifth position is used to control the cleaning robot to move toward the base station, so that the cleaning robot returns to the base station position; wherein, The compensation function is generated by using the relative position relationship between the geometric center of the identification area and the geometric center of the base station.

2. The method according to claim 1, characterized in that: The scanning data includes reflective intensity information of multiple scanning points; the identification area includes at least two reflective materials with different reflective intensities; and based on the scanning data, determining a first position of the identification area on the base station relative to the cleaning robot includes: Based on the reflection intensity information of the multiple scanning points, a plurality of first target scanning points are determined from the multiple scanning points; the difference between the reflection intensity of each first target scanning point and the reflection intensity of its next scanning point is greater than or equal to a first threshold; The first position is determined based on the determined plurality of first target scanning points.

3. The method according to claim 2, characterized in that The scanning data further includes distance information between the plurality of scanning points and the cleaning robot; the at least two reflective materials in the identification area are not located in the same plane; the first position is determined based on the determined plurality of first target scanning points, including: Based on the plurality of first target scanning points, determining a third position of the identification area relative to the cleaning robot; Based on the distance information between the multiple scanning points and the cleaning robot, a plurality of second target scanning points are determined from the multiple scanning points; the difference between the distance between each second target scanning point and the cleaning robot and the distance between its next scanning point and the cleaning robot is greater than or equal to a second threshold value and less than or equal to a third threshold value; Based on the plurality of second target scanning points, determining a fourth position of the identification area relative to the cleaning robot; The first position is determined using the third position and the fourth position.

4. The method according to claim 1, characterized in that The determining, based on the image data, a second position of the identification area relative to the cleaning robot comprises: The second position is determined based on the image data and in combination with preset appearance feature data of the identification area.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: After determining that the cleaning robot is successfully docked with the base station, detecting whether the cleaning robot is in a charging state; When it is detected that the cleaning robot is not in a charging state, it is determined that the base station is faulty; and fault information is issued; the fault information is used to prompt that the base station is faulty.

6. A mobile control device, characterized in that: include: An acquisition unit, used to acquire scanning data of a laser radar of a cleaning robot and image data acquired by an image acquisition unit of the cleaning robot; a first processing unit, configured to determine a first position of a marking area on a base station relative to the cleaning robot based on the scanning data; and to determine a second position of the marking area relative to the cleaning robot based on the image data; the marking area comprising a reflective material; a second processing unit, configured to control the cleaning robot to move toward the base station based on the first position and the second position, and periodically acquire scanning data of the laser radar and image data acquired by the image acquisition unit when controlling the cleaning robot to move toward the base station; update the first position based on the acquired scanning data; and update the second position based on the acquired image data; and determine a fifth position of the base station relative to the cleaning robot based on the updated first position and the second position in combination with a preset compensation function; The fifth position is used to control the cleaning robot to move toward the base station so that the cleaning robot returns to the base station position; wherein the compensation function is generated using the relative position relationship between the geometric center of the identification area and the geometric center of the base station.

7. A cleaning robot, characterized in that: include: a processor and a memory for storing a computer program capable of being executed on the processor, Wherein, when the processor is used to run the computer program, it executes the steps of the method described in any one of claims 1 to 5.

8. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

Images