Method and system for identifying high reflectivity objects

Abstract

The present disclosure provides a method for identifying a high reflectivity object, comprising: emitting an initial signal to a preset object by a signal generating part, and obtaining a reflected signal of the initial signal; and providing at least one reflecting part around the periphery of the signal generating part, and enabling the reflecting part to form a virtual image part by reflection of the high reflectivity object; wherein the position between the signal generating part and the reflecting part is relatively fixed, and is provided with a first distance; and when the reflected signal is a reflected signal formed by the virtual image part, it is determined that the preset object is a high reflectivity object. The present disclosure also provides a system for identifying a high reflectivity object.

Description

Technical Field

[0001] This disclosure relates to a method and system for identifying highly reflective objects. Background Technology

[0002] A robotic vacuum cleaner is a device that cleans surfaces by moving actively. More and more families are using robotic vacuum cleaners to clean their floors instead of cleaning manually.

[0003] When a robotic vacuum cleaner is cleaning the floor, it needs to accurately know the map of the floor to be cleaned in order to improve cleaning efficiency. In recent years, with the maturity of laser technology and the reduction of costs, various civilian and commercial robots, such as robotic vacuum cleaners, have incorporated lasers and used them for real-time map building.

[0004] However, there are often no good methods for recognizing laser light emitted by a laser when it shines on highly reflective objects such as mirrors. Incorrect recognition of mirrors can lead to failures in robot localization, mapping, and obstacle avoidance. Summary of the Invention

[0005] To address one of the aforementioned technical problems, this disclosure provides a method and system for identifying highly reflective objects.

[0006] According to one aspect of this disclosure, a method for identifying highly reflective objects is provided, comprising:

[0007] An initial signal is emitted towards a preset object by a signal generation unit, and the reflected signal of that initial signal is obtained; and

[0008] At least one reflective part is provided around the signal generating part, and the reflective part is able to form a virtual image part through the reflection of the highly reflective object; wherein the positions of the signal generating part and the reflective part are relatively fixed and are separated by a first distance;

[0009] When the reflected signal is the reflected signal formed by the virtual image part, the preset object is determined to be a high reflectivity object.

[0010] A method for identifying a highly reflective object according to at least one embodiment of the present disclosure further includes: when the reflected signal is a reflected signal formed by the virtual image portion, obtaining the distance between the virtual image portion and the signal generating portion; and

[0011] The position and / or orientation of the highly reflective object relative to the signal generating unit are obtained based on the distance between the virtual image unit and the signal generating unit, and the distance between the signal generating unit and the reflective unit.

[0012] According to at least one embodiment of the present disclosure, a method for identifying highly reflective objects determines whether the reflective object is a virtual image formed by a reflective portion disposed around the signal generating portion. When it is determined that the reflective object is a virtual image formed by a reflective portion disposed around the signal generating portion, a preset object is determined to be a highly reflective object based on the reflection signal formed by the virtual image portion, and / or the position and / or orientation of the highly reflective object relative to the signal generating portion is obtained based on the distance between the virtual image portion and the signal generating portion, and the distance between the signal generating portion and the reflective portion.

[0013] According to at least one embodiment of the present disclosure, a method for identifying a highly reflective object, when the received reflection signal is a reflection signal formed by the virtual image portion, obtains the position and / or orientation of the highly reflective object based on the position of one of the at least one reflection portion and the position of the virtual image portion corresponding to the reflection portion.

[0014] According to at least one embodiment of the method for identifying a highly reflective object, when the position and orientation of the highly reflective object are obtained based on the position of one of the at least one reflective portion, the distance between the reflective portion and the signal generating portion is less than or equal to a preset value.

[0015] According to at least one embodiment of the present disclosure, a method for identifying a highly reflective object, determining whether the reflective object is a virtual image formed by a reflective portion disposed around the signal generating unit includes: determining whether the difference between the intensity of the reflected signal formed by the reflective object and the intensity of the reflected signal around the reflective object is greater than or equal to a preset value, or whether the ratio of the intensity of the reflected signal formed by the reflective object to the intensity of the reflected signal around the reflective object is greater than or equal to a preset value; if so, controlling the signal generating unit to move at a preset speed in a direction approaching or moving away from the reflective object; and obtaining the moving speed of the reflective object relative to the signal generating unit; when the moving speed of the reflective object relative to the signal generating unit is different from the preset speed of the signal generating unit, determining that the reflective object is a virtual image formed by the reflection of the highly reflective object by a reflective portion used to obtain the position and / or attitude of the highly reflective object.

[0016] According to at least one embodiment of the present disclosure, a method for identifying a highly reflective object, when the number of reflective parts is at least two, obtains the position and / or orientation of the highly reflective object based on the positions of two of the at least two reflective parts and the position of the virtual image part corresponding to the reflective parts.

[0017] According to at least one embodiment of the method for identifying a highly reflective object, the method obtains the angle between the line connecting the two reflective portions and the signal generating portion based on their positions relative to the signal generating portion, and obtains the angle between the line connecting the virtual image portion corresponding to the reflective portion and the signal generating portion. Furthermore, the method obtains the position and / or orientation of the highly reflective object relative to the signal generating portion based on the distance between the virtual image portion and the signal generating portion, the angle between the line connecting the reflective portion and the signal generating portion, the distance between the signal generating portion and the reflective portion, and the angle between the line connecting the virtual image portion and the signal generating portion.

[0018] According to at least one embodiment of the present disclosure, a method for identifying highly reflective objects, determining whether the reflective object is a virtual image formed by a reflective portion disposed around the signal generating portion includes: determining whether the difference between the intensity of the reflected signal formed by the reflective object and the intensity of the reflected signal around the reflective object is greater than or equal to a preset value, or whether the ratio of the intensity of the reflected signal formed by the reflective object to the intensity of the reflected signal around the reflective object is greater than or equal to a preset value; if so, obtaining the relative positional relationship between at least two reflective portions; obtaining the distance between at least two reflective objects; and determining that the reflective object is a virtual image formed by a reflective portion disposed around the signal generating portion when the positional relationship between at least two reflective portions corresponds to the relative positional relationship between at least two reflective objects.

[0019] According to at least one embodiment of the method for identifying highly reflective objects, the path of the initial signal emitted by the signal generating unit intersects with the line connecting the two reflective units.

[0020] A method for identifying highly reflective objects according to at least one embodiment of the present disclosure, wherein the reflective portion includes: a first reflective portion and a second reflective portion, wherein the distance between the first reflective portion and the signal generating portion is the same as the distance between the second reflective portion and the signal generating portion.

[0021] According to at least one embodiment of the method for identifying highly reflective objects, the path of the initial signal emitted by the signal generating unit passes through the midpoint of the line connecting the first reflector and the second reflector, such that the distance between the virtual image portion corresponding to the first reflector and the signal generating unit is the same as the distance between the virtual image portion corresponding to the second reflector and the signal generating unit.

[0022] According to at least one embodiment of the method for identifying highly reflective objects, the first reflective portion, the second reflective portion, and the signal generating portion are on the same horizontal plane, and the first reflective portion and the second reflective portion are respectively located on both sides of the signal generating portion.

[0023] According to at least one embodiment of the present disclosure, in a method for identifying highly reflective objects, the reflected signal is received by a signal receiving unit, and the distance between the virtual image unit and the signal generating unit is obtained based on the time difference between the emission time of the initial signal and the reception time of the reflected signal.

[0024] According to at least one embodiment of the method for identifying highly reflective objects of the present disclosure, the signal generating unit and the signal receiving unit are configured as laser sensors.

[0025] According to another aspect of this disclosure, a system for identifying highly reflective objects is provided, comprising:

[0026] A signal generating unit is disposed around a preset object and is used to generate an initial signal and emit it outward to the preset object;

[0027] At least one reflective portion is disposed around the signal generating portion, and the reflective portion is capable of forming a virtual image portion through reflection from the highly reflective object; wherein the positions of the signal generating portion and the reflective portion are relatively fixed and are spaced apart by a first distance; and

[0028] A signal receiving unit, the signal receiving unit being used to receive the reflected signal of the initial signal;

[0029] When the reflected signal is the reflected signal formed by the virtual image part, the preset object is determined to be a high reflectivity object.

[0030] According to at least one embodiment of the present disclosure, a system for identifying highly reflective objects obtains the distance between the virtual image portion and the signal generating portion when the reflected signal is a reflected signal formed by the virtual image portion; and obtains the position and / or orientation of the highly reflective object relative to the signal generating portion based on the distance between the virtual image portion and the signal generating portion, and the distance between the signal generating portion and the reflecting portion.

[0031] According to at least one embodiment of the present disclosure, a system for identifying highly reflective objects determines whether the reflective object is a virtual image formed by a reflective portion disposed around the signal generating portion. When it is determined that the reflective object is a virtual image formed by a reflective portion disposed around the signal generating portion, a preset object is determined to be a highly reflective object based on the reflection signal formed by the virtual image portion, and / or the position and / or orientation of the highly reflective object relative to the signal generating portion is obtained based on the distance between the virtual image portion and the signal generating portion, and the distance between the signal generating portion and the reflective portion.

[0032] According to at least one embodiment of the present disclosure, a system for identifying highly reflective objects obtains the position and / or orientation of the highly reflective object based on the position of one of the at least one reflecting portions and the position of the virtual image portion corresponding to the reflecting portion when the received reflection signal is a reflection signal formed by the virtual image portion.

[0033] According to at least one embodiment of the system for identifying highly reflective objects, when the position and orientation of the highly reflective object are obtained based on the position of one of the at least one reflective portion, the distance between the reflective portion and the signal generating portion is less than or equal to a preset value.

[0034] According to at least one embodiment of the present disclosure, a system for identifying highly reflective objects, determining whether the reflective object is a virtual image formed by a reflective portion disposed around the signal generating unit includes: determining whether the difference between the intensity of the reflected signal formed by the reflective object and the intensity of the reflected signal around the reflective object is greater than or equal to a preset value, or whether the ratio of the intensity of the reflected signal formed by the reflective object to the intensity of the reflected signal around the reflective object is greater than or equal to a preset value; if so, controlling the signal generating unit to move at a preset speed in a direction approaching or moving away from the reflective object; and obtaining the moving speed of the reflective object relative to the signal generating unit; when the moving speed of the reflective object relative to the signal generating unit is different from the preset speed of the signal generating unit, determining that the reflective object is a virtual image formed by the reflection of the highly reflective object by a reflective portion used to obtain the position and / or attitude of the highly reflective object.

[0035] According to at least one embodiment of the present disclosure, a system for identifying highly reflective objects, when the number of reflective parts is at least two, obtains the position and / or orientation of the highly reflective object based on the positions of two of the at least two reflective parts and the position of the virtual image part corresponding to the reflective parts.

[0036] A system for identifying highly reflective objects according to at least one embodiment of the present disclosure obtains the angle between the lines connecting the two reflective portions and the signal generating portion based on their positions relative to the signal generating portion, and obtains the angle between the line connecting the virtual image portion corresponding to the reflective portion and the signal generating portion. Furthermore, it obtains the position and / or orientation of the highly reflective object relative to the signal generating portion based on the distance between the virtual image portion and the signal generating portion, the angle between the lines connecting the reflective portion and the signal generating portion, the distance between the signal generating portion and the reflective portion, and the angle between the lines connecting the virtual image portion and the signal generating portion.

[0037] According to at least one embodiment of the present disclosure, a system for identifying highly reflective objects, determining whether the reflective object is a virtual image formed by a reflective portion disposed around the signal generating unit includes: determining whether the difference between the intensity of the reflected signal formed by the reflective object and the intensity of the reflected signal around the reflective object is greater than or equal to a preset value, or whether the ratio of the intensity of the reflected signal formed by the reflective object to the intensity of the reflected signal around the reflective object is greater than or equal to a preset value; if so, obtaining the relative positional relationship between at least two reflective portions; obtaining the distance between at least two reflective objects; and determining that the reflective object is a virtual image formed by a reflective portion disposed around the signal generating unit when the positional relationship between at least two reflective portions corresponds to the relative positional relationship between at least two reflective objects.

[0038] According to at least one embodiment of the system for identifying highly reflective objects, the path of the initial signal emitted by the signal generating unit intersects with the line connecting the two reflective parts.

[0039] According to at least one embodiment of the present disclosure, a system for identifying highly reflective objects includes a reflective portion comprising a first reflective portion and a second reflective portion, wherein the distance between the first reflective portion and the signal generating portion is the same as the distance between the second reflective portion and the signal generating portion.

[0040] According to at least one embodiment of the present disclosure, a system for identifying highly reflective objects controls a signal generating unit to rotate, a first reflective unit and a second reflective unit to rotate about the signal generating unit as a center line, such that the distance between the virtual image unit corresponding to the first reflective unit and the signal generating unit is the same as the distance between the virtual image unit corresponding to the second reflective unit and the signal generating unit.

[0041] According to at least one embodiment of the present disclosure, in a system for identifying highly reflective objects, the first reflective portion, the second reflective portion, and the signal generating portion are on the same horizontal plane, and the first reflective portion and the second reflective portion are respectively located on both sides of the signal generating portion.

[0042] According to at least one embodiment of the present disclosure, in a system for identifying highly reflective objects, the reflected signal is received by a signal receiving unit, and the distance between the virtual image unit and the signal generating unit is obtained based on the time difference between the transmission time of the initial signal and the reception time of the reflected signal.

[0043] According to at least one embodiment of the present disclosure, a system for identifying highly reflective objects includes a signal generating unit and a signal receiving unit configured as laser sensors.

[0044] According to another aspect of this disclosure, a robotic vacuum cleaner is provided, which includes the aforementioned system for identifying highly reflective objects.

[0045] A robotic vacuum cleaner according to at least one embodiment of the present disclosure further includes a housing portion, wherein the reflective portion is formed in the housing portion.

[0046] According to at least one embodiment of the sweeping robot of the present disclosure, the housing portion has an opening, and when the signal generating portion and the signal receiving portion are formed as laser sensors, at least a portion of the laser sensor passes through the opening and is located outside the housing portion. Attached Figure Description

[0047] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0048] Figure 1 This is a schematic diagram of a method for identifying highly reflective objects according to one embodiment of the present disclosure.

[0049] Figure 2 This is a schematic diagram of a method for identifying highly reflective objects according to one embodiment of the present disclosure.

[0050] Figure 3 This is a schematic diagram of the calculation process for identifying the position and / or orientation of a highly reflective object according to one embodiment of the present disclosure.

[0051] Figure 4 This is a schematic diagram of another calculation process for identifying the position and / or orientation of a highly reflective object according to one embodiment of the present disclosure.

[0052] Figure 5 This is a schematic diagram of another calculation process for identifying the position and / or orientation of a highly reflective object according to one embodiment of the present disclosure.

[0053] Figure 6 A schematic diagram of the structure of a system for identifying highly reflective objects according to one embodiment of the present disclosure is shown.

[0054] Figure 7 Another structural schematic diagram of a system for identifying highly reflective objects according to one embodiment of the present disclosure is shown.

[0055] Figure 8 A schematic diagram of the structure of a sweeping robot according to one embodiment of the present disclosure is shown.

[0056] The specific labels in the attached figures are as follows:

[0057] 210 Signal Generation Unit

[0058] 220 Reflector

[0059] 230 Signal Receiving Unit

[0060] 240 Virtual Image Department

[0061] 300 High reflectivity objects

[0062] 400 Robotic Vacuum Cleaner

[0063] 410 Casing section

[0064] 420 laser sensor. Detailed Implementation

[0065] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0066] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0067] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0068] The use of crosshairs and / or shading in the accompanying drawings is generally used to clarify the boundaries between adjacent components. Thus, unless otherwise stated, the presence or absence of crosshairs or shading does not convey or indicate any preference or requirement for the specific material, material properties, dimensions, proportions, commonalities between the illustrated components, or any other characteristics, properties, etc., of the components. Furthermore, in the accompanying drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in the reverse order of their description. Furthermore, the same reference numerals denote the same components.

[0069] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.

[0070] For descriptive purposes, this disclosure may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0071] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0072] Figure 1 This is a schematic diagram of a method for identifying highly reflective objects according to one embodiment of the present disclosure.

[0073] like Figure 1As shown, the method for identifying a high reflectivity object disclosed herein includes: 102, transmitting an initial signal to a preset object via a signal generating unit 210, and obtaining a reflected signal of the initial signal; and 104, providing at least one reflective part 220 around the signal generating unit 210, and enabling the reflective part 220 to form a virtual image part 240 through reflection from the high reflectivity object 300; wherein the positions of the signal generating unit 210 and the reflective part 220 are relatively fixed and are spaced apart by a first distance; and 106, determining that the preset object is a high reflectivity object 300 when the reflected signal is a reflected signal formed by the virtual image part 240.

[0074] In this disclosure, the high reflectivity object 300 is an object with a reflectivity of 85% or higher, such as a mirror.

[0075] In an optional embodiment of this disclosure, the reflected signal is received by the signal receiving unit 230; wherein the signal generating unit 210 and the signal receiving unit 230 are configured as a laser sensor, and the laser sensor can be installed on the sweeping robot to identify surrounding obstacles and build a map of the floor to be cleaned. In this case, the initial signal is a laser signal, the reflected signal is the echo signal of the laser signal, and the laser sensor can identify the intensity information of the echo signal of the laser signal, that is, the light intensity information.

[0076] The relative positions between the signal generating unit 210 and the signal receiving unit 230 are fixed. For example, the laser sensor may have a housing portion, and the signal generating unit 210 and the signal receiving unit 230 may be located inside the housing portion. The housing portion has an opening through which the signal generating unit 210 emits a laser signal, and the reflected signal is received by the signal receiving unit 230 through the opening.

[0077] Of course, the signal generating unit 210 and the signal receiving unit 230 may also be provided outside the housing, and this disclosure is not limited thereto.

[0078] The reflective part 220 has a surface with a reflectivity of 60% or more. The reflective part 220 can be reflective paper, which is attached to the laser sensor, for example, to the housing of the laser sensor. Of course, the reflective paper can also be directly attached to the signal generating part 210 and / or the signal receiving part 230, as long as the relative position between the reflective part 220 and the signal generating part 210 is fixed.

[0079] On the other hand, the reflective portion 220 can be a coating formed on the laser sensor. For example, the coating can be applied to the housing portion, or it can be applied to the signal generating portion 210 and / or the signal receiving portion 230.

[0080] Because the intensity of the reflected signal formed by reflective paper or reflective coating is relatively large, for example, when the reflected signal is a laser signal, even if it is reflected by a highly reflective object, its light intensity is still relatively large. Therefore, the presence of reflective paper or reflective coating can be determined based on the intensity of the reflected signal.

[0081] For example, when the difference between the intensity of the reflected signal corresponding to a certain area and the intensity of the reflected signals around that area is greater than or equal to a preset value, the area can be determined to be reflective paper or reflective coating. This preset value can be determined based on the distance between the reflective paper or reflective coating and a preset object, as well as the intensity of the initial emitted signal; of course, the preset value can also be a fixed value.

[0082] Alternatively, when the ratio of the intensity of the reflected signal corresponding to a certain area to the intensity of the reflected signal around that area is greater than or equal to a preset value, the area can be determined to be reflective paper or reflective coating. The preset value can be a fixed value, or it can be determined based on the distance between the reflective paper or reflective coating and a preset object, as well as based on the intensity of the initial signal emitted.

[0083] Of course, when the laser sensor is applied to a robotic vacuum cleaner, the reflective part 220 can be formed on the housing part of the robotic vacuum cleaner or the laser sensor bracket part. For example, when the reflective part 220 is reflective paper, the reflective paper is pasted on the housing part of the robotic vacuum cleaner or the laser sensor bracket part. When the reflective part 220 is a coating, the coating can be formed on the housing part of the robotic vacuum cleaner or the laser sensor bracket part.

[0084] Therefore, this disclosure can solve the problem that lidar cannot identify high reflectivity planes (such as plane mirrors). By setting a reflective material with a higher reflectivity than ordinary objects, such as reflective paper, the laser is shone onto the reflective paper of the virtual image inside the mirror, and the existence of the mirror is identified by the distance and light intensity measured by lidar.

[0085] Figure 2 This is a schematic diagram of a method for identifying highly reflective objects according to one embodiment of the present disclosure.

[0086] According to at least one embodiment of this disclosure, such as Figure 2 As shown, the method for identifying a high reflectivity object 300 further includes: when the reflected signal is a reflected signal formed by the virtual image unit 240, 108, obtaining the distance between the virtual image unit 240 and the signal generating unit 210; and 110, obtaining the position and / or orientation of the high reflectivity object 300 relative to the signal generating unit 210 based on the distance between the virtual image unit 240 and the signal generating unit 210, and the distance between the signal generating unit 210 and the reflecting unit 220.

[0087] In other words, the method for identifying a high reflectivity object 300 disclosed herein can not only identify the existence of the high reflectivity object 300, but also determine the position and orientation of the reflective surface of the high reflectivity object 300 through some algorithms or operations.

[0088] In this disclosure, when the received reflected signal is a reflected signal formed by the virtual image portion 240, the position and / or orientation of the high reflectivity object 300 is obtained based on the position of one of the at least one reflected portion 220 and the position of the virtual image portion 240 corresponding to the reflected portion 220.

[0089] At this time, the at least one reflective part 220 can be a single reflective part 220, that is, only one reflective part 220 needs to be provided around the signal generating part 210.

[0090] Figure 3 This is a schematic diagram of the calculation process for identifying the position and / or orientation of a highly reflective object according to one embodiment of the present disclosure.

[0091] like Figure 3 As shown, when obtaining the position of the high reflectivity object 300, only the reflector 220P1 and the virtual image 240P1' are used. Of course, multiple reflectors 220 can be provided around the signal generating unit 210, in which case only one reflector 220 and the corresponding virtual image 240 are used.

[0092] Preferably, when the position and orientation of the high reflectivity object 300 are obtained based on the position of one of the at least one reflective part 220, the distance between the reflective part 220 and the signal generating part 210 is less than or equal to a preset value, and the position of the reflective part 220 can be used as the position of the signal generating part 210.

[0093] Furthermore, when there is only one reflector 220, the distance between the reflector 220 and the signal generating unit 210 is less than or equal to a preset value.

[0094] That is, when there is a long distance between the high reflectivity object 300 and the signal generating unit 210, or between the high reflectivity object 300 and the reflective unit 220, the distance between the virtual image unit 240 and the signal generating unit 210 and the corresponding azimuth angle can be calculated by detecting only one virtual image unit 240.

[0095] like Figure 3As shown, O is the signal generating unit 210, O' is the virtual image of the signal generating unit 210, P1 is the reflecting unit 220, P1' is the virtual image unit 240, r is the distance between the signal generating unit 210 and the reflecting unit 220 (known), α is the angle between the line connecting the virtual image unit 240 and the signal generating unit 210 and the line connecting the signal generating unit 210 and the virtual image of the signal generating unit 210, s is the distance from the virtual image unit 240 to the signal generating unit 210 (known), and d is the distance between the signal generating unit 210 and the virtual image of the signal generating unit 210.

[0096] Since the distance between the signal generating unit 210 and the highly reflective object 300 is relatively large, d >> r, for example, d is greater than 100r, α approaches 0, and we can assume that d ≈ s. Furthermore, the line connecting the virtual image unit 240 and the signal generating unit 210 is approximately perpendicular to the mirror surface. At this time, the distance between the highly reflective object 300 and the signal generating unit 210 is d / 2, or s / 2.

[0097] Considering that other reflective objects with similar reflectivity may exist in the working environment and also form reflected signals, it is necessary to determine whether the reflective object is a virtual image formed by a reflective part disposed around the signal generating part. When it is determined that the reflective object is a virtual image formed by a reflective part disposed around the signal generating part, the preset object is determined to be a high reflectivity object based on the reflected signal formed by the virtual image part, and / or the position and / or orientation of the high reflectivity object relative to the signal generating part is obtained based on the distance between the virtual image part and the signal generating part, and the distance between the signal generating part and the reflective part.

[0098] When the number of reflective parts 220 is one, determining whether the reflective object is a virtual image formed by the reflective parts disposed around the signal generating part includes: determining whether the difference between the intensity (light intensity) of the reflected signal formed by the reflective object and the intensity of the reflected signal around the reflective object is greater than or equal to a preset value. The preset value can be determined based on the distance between the reflective part 220 and a preset object, and based on the intensity of the initial signal emitted. Alternatively, the preset value can be a fixed value, or the ratio of the intensity of the reflected signal formed by the reflective object to the intensity of the reflected signal around the reflective object can be greater than or equal to a preset value. The preset value can be a fixed value, or it can be determined based on the distance between the reflective part 220 and a preset object, and based on the intensity of the initial signal emitted. The distance between 220 and the preset object, and the strength of the initial signal emitted, are used to determine if the robot vacuum can be controlled to move, for example, to move the robot closer to or away from the virtual image unit 240P1'. That is, the signal generating unit 210 is controlled to move at a preset speed along the direction of approaching or moving away from the reflector. The moving speed of the reflector relative to the signal generating unit 210 is obtained. When the moving speed of the reflector relative to the signal generating unit 210 is different from the preset speed of the signal generating unit 210, it is determined that the reflector is the virtual image unit 240 formed by the reflection of the high reflectivity object 300 by the reflector 220 used to obtain the position and / or attitude of the high reflectivity object 300.

[0099] Accordingly, when there is only one reflector 220, the control signal generating unit 210 moves at a preset speed in the direction of approaching or moving away from the reflector; and obtains the moving speed of the reflector relative to the signal generating unit 210. When the moving speed of the reflector relative to the signal generating unit 210 is different from the preset speed of the signal generating unit 210, it is determined that the reflector is the virtual image unit 240 corresponding to the reflector 220.

[0100] On the other hand, when the number of reflective parts 220 is at least two, the position and / or orientation of the high reflectivity object 300 is obtained based on the positions of two of the at least two reflective parts 220 and the position of the virtual image part 240 corresponding to the reflective parts 220.

[0101] When at least two reflective elements 220 are used to obtain the position and / or orientation of a highly reflective object 300, determining whether the reflective element is a virtual image formed by reflective elements disposed around the signal generating element includes: determining whether the difference between the intensity (light intensity) of the reflected signal formed by the reflective element and the intensity of the reflected signal around the reflective element is greater than or equal to a preset value, wherein the preset value can be determined based on the distance between the reflective element 220 and a preset object, and based on the intensity of the emitted initial signal; of course, the preset value can also be a fixed value, or the ratio of the intensity of the reflected signal formed by the reflective element to the intensity of the reflected signal around the reflective element is greater than or equal to the preset value, wherein the preset value can be a fixed value, or it can be determined based on the distance between the reflective element 220 and the preset object, and based on the intensity of the emitted initial signal; if so, then the relative positional relationship between at least two reflective elements is obtained; the distance between at least two reflective elements is obtained; when the positional relationship between at least two reflective elements corresponds to the relative positional relationship between at least two reflective elements, it is determined that the reflective element is a virtual image formed by reflective elements disposed around the signal generating element.

[0102] As one implementation, the relative positional relationship between the at least two reflective parts can be the distance between two of the at least two reflective parts. Of course, the relative positional relationship between the at least two reflective parts can also include the shape of the line connecting all the reflective parts, etc. Correspondingly, the relative positional relationship between the at least two reflective objects can be the distance between two of the at least two reflective objects. Of course, the relative positional relationship between the at least two reflective objects can also include the shape of the line connecting all the reflective objects, etc.

[0103] For example, the distance between the two reflecting parts P1 and P2 and the distance between the two virtual image parts P1' and P2' can be used to determine the distance. Assuming the distance between the two reflecting parts P1 and P2 is D, and the distance between the two virtual image parts P1' and P2' is D', then D' 2 =S1 2 +S2 2 -2S1S2cosα, if D'=D, then P1' and P2' can be determined to be two virtual image parts, thus confirming that there is a highly reflective object 300 in front.

[0104] Figure 4 This is a schematic diagram of another calculation process for identifying the position and / or orientation of a highly reflective object according to one embodiment of the present disclosure.

[0105] like Figure 4As shown, O is the signal generating unit 210, O' is the virtual image of the signal generating unit 210, P1 and P2 are the reflecting units 220, P1' is the virtual image unit 240 corresponding to the reflecting unit 220P1, P2' is the virtual image unit 240 corresponding to the reflecting unit 220P2, r is the distance between the signal generating unit 210 and the reflecting unit 220 (known), and φ is the angle between the lines connecting the reflecting unit 220 and the signal generating unit 210, i.e., ∠P1'O'P2' is a fixed angle, for example, 120°; the virtual image unit 240 corresponding to the reflecting unit 220 and... The angle α between the lines connecting the signal generating units 210 is a known angle; s1 is the distance (known) from the virtual image unit 240P1' to the signal generating unit 210; s2 is the distance (known) from the virtual image unit 240P2' to the signal generating unit 210; d is the distance between the signal generating unit 210 and its virtual image. At this time, the angle β between the line connecting the virtual image unit 240P1' or P2' to the signal generating unit 210 and the line connecting the signal generating unit 210 and its virtual image can be obtained using the law of cosines.

[0106] in, Figure 4 The distance r between the reflector 220 and the signal generator 210 is the same. Of course, the distance between different reflectors 220 and the signal generator 210 can also be different.

[0107] The distance between the signal generating unit 210 and the virtual image of the signal generating unit 210:

[0108]

[0109] For ease of calculation, the angle between the line connecting the reflector 220 and the signal generator 210 can be set to a fixed 120°. The distance between the signal generator 210 and its virtual image is then:

[0110]

[0111] At this time, the distance between the highly reflective object 300 and the signal generating unit 210 is d / 2.

[0112] In other words, based on the positions between the two reflective portions 220 and the signal generating portion 210, the angle between the lines connecting the reflective portions 220 and the signal generating portion 210 is obtained, as well as the angle between the lines connecting the virtual image portion 240 corresponding to the reflective portion 220 and the signal generating portion 210 is obtained. Furthermore, based on the distance between the virtual image portion 240 and the signal generating portion 210, the angle between the lines connecting the reflective portions 220 and the signal generating portion 210, the distance between the signal generating portion 210 and the reflective portion 220, and the angle between the lines connecting the virtual image portion 240 and the signal generating portion 210, the position and / or orientation of the high reflectivity object 300 relative to the signal generating portion 210 is obtained.

[0113] In this disclosure, preferably, the path of the initial signal emitted by the signal generating unit 210 intersects with the line connecting the two reflecting units 220.

[0114] As a preferred implementation, the reflector 220 includes a first reflector 221 and a second reflector 222, wherein the distance between the first reflector 221 and the signal generating unit 210 is the same as the distance between the second reflector 222 and the signal generating unit 210.

[0115] As a special case, the path of the initial signal emitted by the signal generating unit 210 passes through the midpoint of the line connecting the first reflector 221 and the second reflector 222, such that the distance between the virtual image unit 240 corresponding to the first reflector 221 and the signal generating unit 210 is the same as the distance between the virtual image unit 240 corresponding to the second reflector 222 and the signal generating unit 210. In this disclosure, the path of the initial signal emitted by the signal generating unit 210 passing through the midpoint of the line connecting the first reflector 221 and the second reflector 222 can be obtained by controlling the rotation of the signal generating unit 210 to adjust the path of the initial signal emitted by the signal generating unit 210.

[0116] Figure 5 This is a schematic diagram of another calculation process for identifying the position and / or orientation of a highly reflective object according to one embodiment of the present disclosure.

[0117] like Figure 5 As shown, O is the signal generating unit 210, O' is the virtual image of the signal generating unit 210, P1 and P2 are the reflecting units 220, P1' is the virtual image unit 240 corresponding to the reflecting unit 220P1, P2' is the virtual image unit 240 corresponding to the reflecting unit 220P2, r is the distance between the signal generating unit 210 and the reflecting unit 220 (known), and the angle between the lines connecting the reflecting unit 220 and the signal generating unit 210, i.e., ∠P1'O'P2', is a fixed angle, for example, 120°; the virtual image unit 240 corresponding to the reflecting unit 220 and the signal generating unit 210 are... The angle α between the lines connecting the signal generation units 210 is a known angle; s1 is the distance (known) from the virtual image unit 240P1' to the signal generation unit 210; s2 is the distance (known) from the virtual image unit 240P2' to the signal generation unit 210; d is the distance between the signal generation unit 210 and its virtual image. At this time, the angle β between the line connecting the virtual image unit 240P1' or P2' to the signal generation unit 210 and the line connecting the signal generation unit 210 and its virtual image can be obtained using the law of cosines.

[0118] By controlling the path of the initial signal, such that s1 = s2 = s, β and d can be obtained using the law of sine.

[0119] More preferably, the first reflector 221, the second reflector 222 and the signal generating unit 210 are on the same horizontal plane, and the first reflector 221 and the second reflector 222 are located on both sides of the signal generating unit 210.

[0120] According to at least one embodiment of the present disclosure, the reflected signal is received by the signal receiving unit 230, and the distance between the virtual image unit 240 and the signal generating unit 210 is obtained based on the time difference between the transmission time of the initial signal and the reception time of the reflected signal.

[0121] Figure 6 A schematic diagram of the structure of a system for identifying a highly reflective object 300 according to one embodiment of the present disclosure is shown. Figure 7 Another structural schematic diagram of a system for identifying highly reflective objects according to one embodiment of the present disclosure is shown.

[0122] Although Figure 6 and Figure 7 There is a certain distance between the signal generating unit 210 and the signal receiving unit 230. However, those skilled in the art should know that the distance between the signal generating unit 210 and the signal receiving unit 230 is particularly small. Therefore, it can be considered that the signal generating unit 210 and the signal receiving unit 230 overlap.

[0123] like Figure 6 and Figure 7 As shown, the system for identifying a highly reflective object 300 disclosed herein includes: a signal generating unit 210, at least one reflecting unit 220, and a signal receiving unit 230.

[0124] A signal generating unit 210 is disposed around a preset object to generate an initial signal and emit it outward to the preset object; at least one reflecting unit 220 is disposed around the signal generating unit 210, and the reflecting unit 220 can form a virtual image unit 240 through reflection from the high reflectivity object 300; wherein the positions of the signal generating unit 210 and the reflecting unit 220 are relatively fixed and are separated by a first distance; and a signal receiving unit 230 is used to receive the reflected signal of the initial signal; wherein, when the reflected signal is the reflected signal formed by the virtual image unit 240, it is determined that the preset object is a high reflectivity object 300.

[0125] In this disclosure, the high reflectivity object 300 is an object with a reflectivity of 85% or higher, such as a mirror.

[0126] In an optional embodiment of this disclosure, the reflected signal is received by the signal receiving unit 230; wherein the signal generating unit 210 and the signal receiving unit 230 are configured as a laser sensor, and the laser sensor can be installed on the sweeping robot to identify surrounding obstacles and build a map of the floor to be cleaned. In this case, the initial signal is a laser signal, the reflected signal is the echo signal of the laser signal, and the laser sensor can identify the intensity information of the echo signal of the laser signal, that is, the light intensity information.

[0127] The relative positions between the signal generating unit 210 and the signal receiving unit 230 are fixed. For example, the laser sensor may have a housing portion, and the signal generating unit 210 and the signal receiving unit 230 may be located inside the housing portion. The housing portion has an opening through which the signal generating unit 210 emits a laser signal, and the reflected signal is received by the signal receiving unit 230 through the opening.

[0128] Of course, the signal generating unit 210 and the signal receiving unit 230 may also be provided outside the housing, and this disclosure is not limited thereto.

[0129] The reflective part 220 has a surface with a reflectivity of 60% or more. The reflective part 220 can be reflective paper, which is attached to the laser sensor, for example, to the housing of the laser sensor. Of course, the reflective paper can also be directly attached to the signal generating part 210 and / or the signal receiving part 230, as long as the relative position between the reflective part 220 and the signal generating part 210 is fixed.

[0130] On the other hand, the reflective portion 220 can be a coating formed on the laser sensor. For example, the coating can be applied to the housing portion, or the coating can be applied to the signal generating portion 210 and / or the signal receiving portion 230.

[0131] Because the intensity of the reflected signal formed by reflective paper or reflective coating is relatively large, for example, when the reflected signal is a laser signal, even if it is reflected by a highly reflective object, its light intensity is still relatively large. Therefore, the presence of reflective paper or reflective coating can be determined based on the intensity of the reflected signal.

[0132] For example, when the difference between the intensity of the reflected signal corresponding to a certain area and the intensity of the reflected signals around that area is greater than or equal to a preset value, the area can be determined to be reflective paper or reflective coating. This preset value can be determined based on the distance between the reflective paper or reflective coating and a preset object, as well as the intensity of the initial emitted signal; of course, the preset value can also be a fixed value.

[0133] Alternatively, when the ratio of the intensity of the reflected signal corresponding to a certain area to the intensity of the reflected signal around that area is greater than or equal to a preset value, the area can be determined to be reflective paper or reflective coating. The preset value can be a fixed value, or it can be determined based on the distance between the reflective paper or reflective coating and a preset object, as well as based on the intensity of the initial signal emitted.

[0134] Of course, when the laser sensor is applied to a robotic vacuum cleaner, the reflective part 220 can be formed on the housing part of the robotic vacuum cleaner or the laser sensor bracket part. For example, when the reflective part 220 is reflective paper, the reflective paper is pasted on the housing part of the robotic vacuum cleaner or the laser sensor bracket part. When the reflective part 220 is a coating, the coating can be formed on the housing part of the robotic vacuum cleaner or the laser sensor bracket part.

[0135] Therefore, this disclosure can solve the problem that lidar cannot identify high reflectivity planes (such as plane mirrors). By setting a reflective material with a higher reflectivity than ordinary objects, such as reflective paper, the laser is shone onto the reflective paper of the virtual image inside the mirror, and the existence of the mirror is identified by the distance and light intensity measured by lidar.

[0136] According to at least one embodiment of this disclosure, such as Figure 2 As shown, when the reflected signal is a reflected signal formed by the virtual image unit 240, the distance between the virtual image unit 240 and the signal generation unit 210 is obtained; and the position and / or orientation of the high reflectivity object 300 relative to the signal generation unit 210 is obtained based on the distance between the virtual image unit 240 and the signal generation unit 210, and the distance between the signal generation unit 210 and the reflecting unit 220.

[0137] In other words, the system for identifying highly reflective objects 300 disclosed herein can not only identify the existence of highly reflective objects 300, but also determine the position and orientation of the reflective surface of highly reflective objects 300 through some algorithms or operations.

[0138] In this disclosure, when the received reflected signal is a reflected signal formed by the virtual image portion 240, the position and / or orientation of the high reflectivity object 300 is obtained based on the position of one of the at least one reflected portion 220 and the position of the virtual image portion 240 corresponding to the reflected portion 220.

[0139] At this time, the at least one reflective part 220 can be a single reflective part 220, that is, only one reflective part 220 needs to be provided around the signal generating part 210.

[0140] like Figure 3As shown, when obtaining the position of the high reflectivity object 300, only the reflector 220P1 and the virtual image 240P1' are used. Of course, multiple reflectors 220 can be provided around the signal generating unit 210, in which case only one reflector 220 and the corresponding virtual image 240 are used.

[0141] Preferably, when the position and orientation of the high reflectivity object 300 are obtained based on the position of one of the at least one reflective part 220, the distance between the reflective part 220 and the signal generating part 210 is less than or equal to a preset value, and the position of the reflective part 220 can be used as the position of the signal generating part 210.

[0142] Furthermore, when there is only one reflector 220, the distance between the reflector 220 and the signal generating unit 210 is less than or equal to a preset value.

[0143] That is, when there is a long distance between the high reflectivity object 300 and the signal generating unit 210, or between the high reflectivity object 300 and the reflective unit 220, the distance between the virtual image unit 240 and the signal generating unit 210 and the corresponding azimuth angle can be calculated by detecting only one virtual image unit 240.

[0144] like Figure 3 As shown, O is the signal generating unit 210, O' is the virtual image of the signal generating unit 210, P1 is the reflecting unit 220, P1' is the virtual image unit 240, r is the distance between the signal generating unit 210 and the reflecting unit 220 (known), α is the angle between the line connecting the virtual image unit 240 and the signal generating unit 210 and the line connecting the signal generating unit 210 and the virtual image of the signal generating unit 210, s is the distance from the virtual image unit 240 to the signal generating unit 210 (known), and d is the distance between the signal generating unit 210 and the virtual image of the signal generating unit 210.

[0145] Since the distance between the signal generating unit 210 and the highly reflective object 300 is relatively large, d >> r, for example, d is greater than 100r, α approaches 0, and we can assume that d ≈ s. Furthermore, the line connecting the virtual image unit 240 and the signal generating unit 210 is approximately perpendicular to the mirror surface. At this time, the distance between the highly reflective object 300 and the signal generating unit 210 is d / 2, or s / 2.

[0146] Considering that other reflective objects with similar reflectivity may exist in the working environment and also form reflected signals, it is necessary to determine whether the reflective object is a virtual image formed by a reflective part disposed around the signal generating part. When it is determined that the reflective object is a virtual image formed by a reflective part disposed around the signal generating part, the preset object is determined to be a high reflectivity object based on the reflected signal formed by the virtual image part, and / or the position and / or orientation of the high reflectivity object relative to the signal generating part is obtained based on the distance between the virtual image part and the signal generating part, and the distance between the signal generating part and the reflective part.

[0147] When the number of reflective parts 220 is one, determining whether the reflective object is a virtual image formed by the reflective parts disposed around the signal generating part includes: determining whether the difference between the intensity (light intensity) of the reflected signal formed by the reflective object and the intensity of the reflected signal around the reflective object is greater than or equal to a preset value. The preset value can be determined based on the distance between the reflective part 220 and a preset object, and based on the intensity of the initial signal emitted. Alternatively, the preset value can be a fixed value, or the ratio of the intensity of the reflected signal formed by the reflective object to the intensity of the reflected signal around the reflective object can be greater than or equal to a preset value. The preset value can be a fixed value, or it can be determined based on... The distance between the reflective part 220 and the preset object is determined based on the strength of the initial signal emitted. If the robot vacuum cleaner can be controlled to move, for example, the robot can be controlled to move in a direction closer to or away from the reflective object, that is, the signal generating part 210 is controlled to move in a direction closer to or away from the reflective object at a preset speed; and the moving speed of the reflective object relative to the signal generating part 210 is obtained. When the moving speed of the reflective object relative to the signal generating part 210 is different from the preset speed of the signal generating part 210, it is determined that the reflective object is the virtual image part 240 formed by the reflection of the high reflectivity object 300 by the reflective part 220 used to obtain the position and / or attitude of the high reflectivity object 300.

[0148] Accordingly, when there is only one reflector 220, the control signal generating unit 210 moves at a preset speed in the direction of approaching or moving away from the reflector; and obtains the moving speed of the reflector relative to the signal generating unit 210. When the moving speed of the reflector relative to the signal generating unit 210 is different from the preset speed of the signal generating unit 210, it is determined that the reflector is the virtual image unit 240 corresponding to the reflector 220.

[0149] On the other hand, when the number of reflective parts 220 is at least two, the position and / or orientation of the high reflectivity object 300 is obtained based on the positions of two of the at least two reflective parts 220 and the position of the virtual image part 240 corresponding to the reflective parts 220.

[0150] When at least two reflective elements 220 are used to obtain the position and / or orientation of a highly reflective object 300, determining whether the reflective element is a virtual image formed by reflective elements disposed around the signal generating element includes: determining whether the difference between the intensity (light intensity) of the reflected signal formed by the reflective element and the intensity of the reflected signal around the reflective element is greater than or equal to a preset value, wherein the preset value can be determined based on the distance between the reflective element 220 and a preset object, and based on the intensity of the emitted initial signal; of course, the preset value can also be a fixed value, or the ratio of the intensity of the reflected signal formed by the reflective element to the intensity of the reflected signal around the reflective element is greater than or equal to the preset value, wherein the preset value can be a fixed value, or it can be determined based on the distance between the reflective element 220 and the preset object, and based on the intensity of the emitted initial signal; if so, then the relative positional relationship between at least two reflective elements is obtained; the distance between at least two reflective elements is obtained; when the positional relationship between at least two reflective elements corresponds to the relative positional relationship between at least two reflective elements, it is determined that the reflective element is a virtual image formed by reflective elements disposed around the signal generating element.

[0151] As one implementation, the relative positional relationship between the at least two reflective parts can be the distance between two of the at least two reflective parts. Of course, the relative positional relationship between the at least two reflective parts can also include the shape of the line connecting all the reflective parts, etc. Correspondingly, the relative positional relationship between the at least two reflective objects can be the distance between two of the at least two reflective objects. Of course, the relative positional relationship between the at least two reflective objects can also include the shape of the line connecting all the reflective objects, etc.

[0152] For example, the distance between the two reflecting parts P1 and P2 and the distance between the two virtual image parts P1' and P2' can be used to determine the distance. Assuming the distance between the two reflecting parts P1 and P2 is D, and the distance between the two virtual image parts P1' and P2' is D', then D' 2 =S1 2 +S2 2 -2S1S2cosα, if D'=D, then P1' and P2' can be determined to be two virtual image parts, thus confirming that there is a highly reflective object 300 in front.

[0153] like Figure 4As shown, O is the signal generating unit 210, O' is the virtual image of the signal generating unit 210, P1 and P2 are the reflecting units 220, P1' is the virtual image unit 240 corresponding to the reflecting unit 220P1, P2' is the virtual image unit 240 corresponding to the reflecting unit 220P2, r is the distance between the signal generating unit 210 and the reflecting unit 220 (known), and φ is the angle between the lines connecting the reflecting unit 220 and the signal generating unit 210, i.e., ∠P1'O'P2' is a fixed angle, for example, 120°; the virtual image unit 240 corresponding to the reflecting unit 220 and... The angle α between the lines connecting the signal generating units 210 is a known angle; s1 is the distance (known) from the virtual image unit 240P1' to the signal generating unit 210; s2 is the distance (known) from the virtual image unit 240P2' to the signal generating unit 210; d is the distance between the signal generating unit 210 and its virtual image. At this time, the angle β between the line connecting the virtual image unit 240P1' or P2' to the signal generating unit 210 and the line connecting the signal generating unit 210 and its virtual image can be obtained using the law of cosines.

[0154] in, Figure 4 The distance r between the reflector 220 and the signal generator 210 is the same. Of course, the distance between different reflectors 220 and the signal generator 210 can also be different.

[0155] The distance between the signal generating unit 210 and the virtual image of the signal generating unit 210:

[0156]

[0157] For ease of calculation, the angle between the line connecting the reflector 220 and the signal generator 210 can be set to a fixed 120°. The distance between the signal generator 210 and its virtual image is then:

[0158]

[0159] At this time, the distance between the highly reflective object 300 and the signal generating unit 210 is d / 2.

[0160] In other words, based on the positions between the two reflective portions 220 and the signal generating portion 210, the angle between the lines connecting the reflective portions 220 and the signal generating portion 210 is obtained, as well as the angle between the lines connecting the virtual image portion 240 corresponding to the reflective portion 220 and the signal generating portion 210 is obtained. Furthermore, based on the distance between the virtual image portion 240 and the signal generating portion 210, the angle between the lines connecting the reflective portions 220 and the signal generating portion 210, the distance between the signal generating portion 210 and the reflective portion 220, and the angle between the lines connecting the virtual image portion 240 and the signal generating portion 210, the position and / or orientation of the high reflectivity object 300 relative to the signal generating portion 210 is obtained.

[0161] In this disclosure, preferably, the path of the initial signal emitted by the signal generating unit 210 intersects with the line connecting the two reflecting units 220.

[0162] As a preferred implementation, the reflector 220 includes a first reflector 221 and a second reflector 222, wherein the distance between the first reflector 221 and the signal generating unit 210 is the same as the distance between the second reflector 222 and the signal generating unit 210.

[0163] As a special case, the path of the initial signal emitted by the signal generating unit 210 passes through the midpoint of the line connecting the first reflector 221 and the second reflector 222, such that the distance between the virtual image unit 240 corresponding to the first reflector 221 and the signal generating unit 210 is the same as the distance between the virtual image unit 240 corresponding to the second reflector 222 and the signal generating unit 210. In this disclosure, the path of the initial signal emitted by the signal generating unit 210 passing through the midpoint of the line connecting the first reflector 221 and the second reflector 222 can be obtained by controlling the rotation of the signal generating unit 210 to adjust the path of the initial signal emitted by the signal generating unit 210.

[0164] like Figure 5 As shown, O is the signal generating unit 210, O' is the virtual image of the signal generating unit 210, P1 and P2 are the reflecting units 220, P1' is the virtual image unit 240 corresponding to the reflecting unit 220P1, P2' is the virtual image unit 240 corresponding to the reflecting unit 220P2, r is the distance between the signal generating unit 210 and the reflecting unit 220 (known), and the angle between the lines connecting the reflecting unit 220 and the signal generating unit 210, i.e., ∠P1'O'P2', is a fixed angle, for example, 120°; the virtual image unit 240 corresponding to the reflecting unit 220 and the signal generating unit 210 are... The angle α between the lines connecting the signal generation units 210 is a known angle; s1 is the distance (known) from the virtual image unit 240P1' to the signal generation unit 210; s2 is the distance (known) from the virtual image unit 240P2' to the signal generation unit 210; d is the distance between the signal generation unit 210 and its virtual image. At this time, the angle β between the line connecting the virtual image unit 240P1' or P2' to the signal generation unit 210 and the line connecting the signal generation unit 210 and its virtual image can be obtained using the law of cosines.

[0165] By controlling the path of the initial signal, such that s1 = s2 = s, β and d can be obtained using the law of sine.

[0166] More preferably, the first reflector 221, the second reflector 222 and the signal generating unit 210 are on the same horizontal plane, and the first reflector 221 and the second reflector 222 are located on both sides of the signal generating unit 210.

[0167] According to at least one embodiment of the present disclosure, the reflected signal is received by the signal receiving unit 230, and the distance between the virtual image unit 240 and the signal generating unit 210 is obtained based on the time difference between the transmission time of the initial signal and the reception time of the reflected signal.

[0168] Figure 8 A schematic diagram of the structure of a sweeping robot according to one embodiment of the present disclosure is shown.

[0169] According to another aspect of this disclosure, a robotic vacuum cleaner 400 is provided, including the aforementioned system for recognizing highly reflective objects.

[0170] Preferably, the sweeping robot of this disclosure further includes: a housing portion 410, wherein the reflective portion 220 is formed in the housing portion 410.

[0171] Furthermore, the housing portion 410 has an opening, and when the signal generating portion and the signal receiving portion are formed as a laser sensor 420, at least a portion of the laser sensor 420 passes through the opening and is located outside the housing portion to facilitate the outward emission of laser light and the reception of laser echoes.

[0172] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0173] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0174] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A method for identifying highly reflective objects, characterized in that, include: An initial signal is emitted towards a preset object by a signal generation unit, and the reflected signal of the initial signal is obtained. as well as At least two reflective portions are arranged around the signal generating portion, such that the reflective portions can form a virtual image portion through reflection from the highly reflective object; wherein the positions of the signal generating portion and the reflective portions are relatively fixed and are spaced apart by a first distance; Wherein, when the reflected signal is the reflected signal formed by the virtual image part, the preset object is determined to be a high reflectivity object; The determination of whether a reflective object is a virtual image formed by a reflective object disposed around the signal generating unit includes: determining whether the difference between the intensity of the reflected signal formed by the reflective object and the intensity of the reflected signal around the reflective object is greater than or equal to a preset value, or whether the ratio of the intensity of the reflected signal formed by the reflective object to the intensity of the reflected signal around the reflective object is greater than or equal to a preset value; if so, obtaining the relative positional relationship between at least two reflective objects; obtaining the distance between at least two reflective objects; and determining that the reflective object is a virtual image formed by a reflective object disposed around the signal generating unit when the positional relationship between at least two reflective objects corresponds to the relative positional relationship between at least two reflective objects.

2. The method for identifying highly reflective objects as described in claim 1, characterized in that, When the position and orientation of a highly reflective object are obtained based on the position of one of at least two reflective parts, the distance between the reflective part and the signal generating part is less than or equal to a preset value.

3. The method for identifying highly reflective objects as described in claim 1, characterized in that, When the number of reflective parts is at least two, the position and / or orientation of the high reflectivity object is obtained based on the positions of two of the at least two reflective parts and the position of the virtual image part corresponding to the reflective parts.

4. The method for identifying highly reflective objects as described in claim 3, characterized in that, Based on the positions of the two reflective portions and the signal generating portion, the angle between the lines connecting the reflective portions and the signal generating portion is obtained, as well as the angle between the line connecting the virtual image portion corresponding to the reflective portion and the signal generating portion is obtained. Furthermore, based on the distance between the virtual image portion and the signal generating portion, the angle between the lines connecting the reflective portions and the signal generating portion, the distance between the signal generating portion and the reflective portion, and the angle between the lines connecting the virtual image portion and the signal generating portion, the position and / or orientation of the high reflectivity object relative to the signal generating portion is obtained.

5. The method for identifying highly reflective objects as described in claim 1, characterized in that, The path of the initial signal emitted by the signal generating unit intersects with the line connecting the two reflectors.

6. The method for identifying highly reflective objects as described in claim 1, characterized in that, The reflective portion includes a first reflective portion and a second reflective portion, wherein the distance between the first reflective portion and the signal generating portion is the same as the distance between the second reflective portion and the signal generating portion.

7. The method for identifying highly reflective objects as described in claim 6, characterized in that, The path of the initial signal emitted by the signal generating unit passes through the midpoint of the line connecting the first reflector and the second reflector, such that the distance between the virtual image corresponding to the first reflector and the signal generating unit is the same as the distance between the virtual image corresponding to the second reflector and the signal generating unit.

8. The method for identifying highly reflective objects as described in claim 6, characterized in that, The first reflector, the second reflector, and the signal generating part are on the same horizontal plane, and the first reflector and the second reflector are located on both sides of the signal generating part.

9. The method for identifying highly reflective objects as described in claim 1, characterized in that, The reflected signal is received by the signal receiving unit, and the distance between the virtual image unit and the signal generating unit is obtained based on the time difference between the transmission time of the initial signal and the reception time of the reflected signal.

10. The method for identifying highly reflective objects as described in claim 1, characterized in that, The signal generating unit and the signal receiving unit are configured as a laser sensor.

11. A system for identifying highly reflective objects, characterized in that, include: A signal generating unit is disposed around a preset object and is used to generate an initial signal and emit it outward to the preset object; At least two reflective portions are disposed around the signal generating portion, such that the reflective portions can form a virtual image portion through reflection from the highly reflective object; wherein the positions of the signal generating portion and the reflective portions are relatively fixed and are spaced apart by a first distance; and A signal receiving unit, the signal receiving unit being used to receive the reflected signal of the initial signal; Wherein, when the reflected signal is the reflected signal formed by the virtual image part, the preset object is determined to be a high reflectivity object; The determination of whether a reflective object is a virtual image formed by a reflective object disposed around the signal generating unit includes: determining whether the difference between the intensity of the reflected signal formed by the reflective object and the intensity of the reflected signal around the reflective object is greater than or equal to a preset value, or whether the ratio of the intensity of the reflected signal formed by the reflective object to the intensity of the reflected signal around the reflective object is greater than or equal to a preset value; if so, obtaining the relative positional relationship between at least two reflective objects; obtaining the distance between at least two reflective objects; and determining that the reflective object is a virtual image formed by a reflective object disposed around the signal generating unit when the positional relationship between at least two reflective objects corresponds to the relative positional relationship between at least two reflective objects.

12. The system for identifying highly reflective objects as described in claim 11, characterized in that, When the position and orientation of a highly reflective object are obtained based on the position of one of at least two reflective parts, the distance between the reflective part and the signal generating part is less than or equal to a preset value.

13. The system for identifying highly reflective objects as described in claim 11, characterized in that, When the number of reflective parts is at least two, the position and / or orientation of the high reflectivity object is obtained based on the positions of two of the at least two reflective parts and the position of the virtual image part corresponding to the reflective parts.

14. The system for identifying highly reflective objects as described in claim 13, characterized in that, Based on the positions of the two reflective portions and the signal generating portion, the angle between the lines connecting the reflective portions and the signal generating portion is obtained, as well as the angle between the line connecting the virtual image portion corresponding to the reflective portion and the signal generating portion is obtained. Furthermore, based on the distance between the virtual image portion and the signal generating portion, the angle between the lines connecting the reflective portions and the signal generating portion, the distance between the signal generating portion and the reflective portion, and the angle between the lines connecting the virtual image portion and the signal generating portion, the position and / or orientation of the high reflectivity object relative to the signal generating portion is obtained.

15. The system for identifying highly reflective objects as described in claim 11, characterized in that, The path of the initial signal emitted by the signal generating unit intersects with the line connecting the two reflectors.

16. The system for identifying highly reflective objects as described in claim 11, characterized in that, The reflective portion includes a first reflective portion and a second reflective portion, wherein the distance between the first reflective portion and the signal generating portion is the same as the distance between the second reflective portion and the signal generating portion.

17. The system for identifying highly reflective objects as described in claim 16, characterized in that, The control signal generating unit rotates, and the first reflective unit and the second reflective unit rotate about the signal generating unit as the center line, so that the distance between the virtual image unit corresponding to the first reflective unit and the signal generating unit is the same as the distance between the virtual image unit corresponding to the second reflective unit and the signal generating unit.

18. The system for identifying highly reflective objects as described in claim 16, characterized in that, The first reflector, the second reflector, and the signal generating part are on the same horizontal plane, and the first reflector and the second reflector are located on both sides of the signal generating part.

19. The system for identifying highly reflective objects as described in claim 11, characterized in that, The reflected signal is received by the signal receiving unit, and the distance between the virtual image unit and the signal generating unit is obtained based on the time difference between the transmission time of the initial signal and the reception time of the reflected signal.

20. The system for identifying highly reflective objects as described in claim 11, characterized in that, The signal generating unit and the signal receiving unit are configured as a laser sensor.

21. A robotic vacuum cleaner, characterized in that, The system for identifying highly reflective objects, including any one of claims 11-20.

22. The sweeping robot as described in claim 21, characterized in that, It also includes a housing section, wherein, The reflective portion is formed in the housing portion.

23. The sweeping robot as described in claim 22, characterized in that, The housing portion has an opening, and when the signal generating portion and the signal receiving portion are formed as a laser sensor, at least a portion of the laser sensor passes through the opening and is located outside the housing portion.

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