Electronic fence generation method and system for electric cleaning robot map modeling

Abstract

The invention discloses an electronic fence generation method and system for map modeling of an electric cleaning robot, and the method comprises the steps: obtaining environment perception data, and generating a 2D environment map model containing electric equipment according to the environment perception data; identifying power equipment according to the 2D environment map model, and dividing a working area, a power equipment area and a forbidden area according to the power equipment; projecting the identified surrounding frame of the power equipment area into a 3D point cloud to obtain three-dimensional point cloud data; and a point cloud boundary value is determined according to the three-dimensional point cloud data, so that a minimum outer surrounding frame is constructed, the length, width and height of the minimum outer surrounding frame are calculated, an electronic fence of the power equipment is obtained, and the action of the electric cleaning robot is controlled by combining the divided working area and the prohibited area. In an electric power scene working environment, electric power scene equipment is automatically identified, an electronic fence is autonomously planned and generated, the cleaning robot is prevented from entering an unaccessible area to perform cleaning operation, and the safety and the intelligent level are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power safety management and control, and in particular to an electronic fence generation method and system for map modeling of an electric power cleaning robot. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Cleaning robots need to work in various complex indoor and outdoor environments, such as homes, offices, commercial places, etc. In order to ensure safety and reliability, cleaning robots need to build electronic fences during work to avoid dangerous areas such as stairs and elevated areas to ensure the safety of robots and users.

[0004] The electric scene is different from the ordinary scene, and the construction of the electronic fence of electric equipment is unique. Ordinary scenes only need to consider pure physical boundaries, such as a stool, as long as the cleaning robot does not touch the stool, but in the electric scene, such as the transformer, not only the physical boundary but also the electromagnetic characteristics need to be considered, and the boundary of the electronic fence is wider than the ordinary boundary. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes an electronic fence generation method and system for map modeling of electric cleaning robots, which automatically identifies electric scene equipment in the electric scene working environment, independently plans and generates electronic fences, and prevents the cleaning robot from entering inaccessible areas for cleaning operations, thereby improving safety and intelligence levels.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides an electronic fence generation method for map modeling of an electric cleaning robot, comprising:

[0008] Obtain environmental perception data and use it to generate a 2D environmental map model including power equipment;

[0009] According to the 2D environmental map model, identify the power equipment and divide the working area, power equipment area and prohibited area according to the power equipment;

[0010] Projecting the bounding box of the identified power equipment area into the 3D point cloud, thereby obtaining three-dimensional point cloud data;

[0011] The point cloud boundary value is determined according to the three-dimensional point cloud data, and the minimum outer bounding box is constructed and the length, width and height of the minimum outer bounding box are calculated to obtain the electronic fence of the power equipment. At the same time, the action of the power cleaning robot is controlled in combination with the divided working area and prohibited area.

[0012] As an optional implementation, laser radar and camera sensors are used to acquire environmental perception data and establish a three-dimensional point cloud environmental model, thereby performing real-time positioning and building an environmental map to generate a 2D environmental map model that includes power equipment.

[0013] As an optional implementation, semantic analysis is performed on the 2D environmental map model to identify the power equipment, and then semantic segmentation is performed to divide the boundaries of various areas, and the identified power equipment is framed with a bounding box.

[0014] As an optional implementation, after using a denoising algorithm to remove noise point cloud information from the three-dimensional point cloud data, the determined point cloud boundary values ​​include: the minimum and maximum values ​​of the x-coordinate, the minimum and maximum values ​​of the y-coordinate, and the minimum and maximum values ​​of the z-coordinate.

[0015] As an optional implementation, the electronic fence includes the vertices and length, width and height of the minimum outer bounding box; wherein the length is obtained according to the difference between the minimum and maximum values ​​of the x-coordinate, the width is obtained according to the difference between the minimum and maximum values ​​of the y-coordinate, and the height is obtained according to the difference between the minimum and maximum values ​​of the z-coordinate.

[0016] As an optional implementation, the vertex coordinates of the minimum outer bounding box include: 1 =(x min ,y min ,z min ), v 2 =(x min ,y min ,z max ), v 3 =(x min ,y max ,z min ), v 4 =(x min ,y max ,z max ), v 5 =(x max ,y min ,z min ), v 6 =(x max ,y min ,z max ), v 7 =(x max ,y max ,z min ), v 8 =(x max ,y max ,z max ), where x min and x maxis the minimum and maximum value of the x coordinate, y min and max is the minimum and maximum value of the y coordinate, z min and z max are the minimum and maximum values ​​of the z coordinate.

[0017] In a second aspect, the present invention provides an electronic fence generation system for map modeling of an electric cleaning robot, comprising:

[0018] An acquisition module is configured to acquire environmental perception data and generate a 2D environmental map model including power equipment;

[0019] An identification module is configured to identify the power equipment according to the 2D environment map model, and divide the power equipment into a working area, a power equipment area and a prohibited area;

[0020] A projection module is configured to project a bounding box of the identified power equipment area into a 3D point cloud, thereby obtaining three-dimensional point cloud data;

[0021] The generation module is configured to determine the point cloud boundary value according to the three-dimensional point cloud data, thereby constructing a minimum outer bounding box and calculating the length, width and height of the minimum outer bounding box, thereby obtaining the electronic fence of the power equipment, and at the same time controlling the action of the power cleaning robot in combination with the divided working area and prohibited area.

[0022] In a third aspect, the present invention provides an electronic device comprising a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method described in the first aspect is completed.

[0023] In a fourth aspect, the present invention provides a computer-readable storage medium for storing computer instructions, wherein when the computer instructions are executed by a processor, the method described in the first aspect is performed.

[0024] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method described in the first aspect.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present invention innovatively proposes an electronic fence generation method for map modeling of an electric cleaning robot. In the electric scene working environment, it automatically identifies different functional areas such as electric scene equipment and working areas, prohibited areas, and electric equipment areas, and then automatically divides the boundaries of various areas through semantic segmentation. According to the area division results, geometric modeling is used to automatically generate corresponding electronic fence boundaries to prevent the electric cleaning robot from entering inaccessible areas for cleaning operations, thereby improving the safety and intelligence level of the electric cleaning robot.

[0027] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0029] Figure 1 A schematic flow chart of an electronic fence generation method for map modeling of an electric cleaning robot provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0031] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0032] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "comprise" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0034] Example 1

[0035] This embodiment provides an electronic fence generation method for map modeling of an electric cleaning robot, including:

[0036] Obtain environmental perception data and use it to generate a 2D environmental map model including power equipment;

[0037] According to the 2D environmental map model, identify the power equipment and divide the working area, power equipment area and prohibited area according to the power equipment;

[0038] Projecting the bounding box of the identified power equipment area into the 3D point cloud, thereby obtaining three-dimensional point cloud data;

[0039] The point cloud boundary value is determined according to the three-dimensional point cloud data, and the minimum outer bounding box is constructed and the length, width and height of the minimum outer bounding box are calculated to obtain the electronic fence of the power equipment. At the same time, the action of the power cleaning robot is controlled in combination with the divided working area and prohibited area.

[0040] In this embodiment, a laser radar + camera sensor is used to obtain environmental perception data, obtain information such as external scenes and power equipment, and then establish a three-dimensional point cloud environment model through data fusion processing.

[0041] In this embodiment, according to the environmental perception data, SLAM technology is applied to perform real-time positioning and environmental map construction to generate a 2D environmental map model including power equipment, such as Figure 1 Picture A in the image.

[0042] In this embodiment, semantic understanding analysis is performed on the 2D environment map model to identify power equipment, and three types of areas are divided according to the power equipment: working area, power equipment area, and prohibited area; among which, the working area is a cleanable area, the power equipment area is an area that requires automatic generation of an electronic fence, and the prohibited area is a prohibited cleaning area determined according to a prohibited sign, manual designation, and other schemes;

[0043] Then, semantic segmentation is performed using machine learning methods to automatically divide the boundaries between cleanable areas and prohibited areas; at the same time, the identified power equipment is framed with a bounding box. Figure 1 The transformer device is identified and outlined with a bounding box.

[0044] In this embodiment, geometric modeling is used to automatically generate the corresponding electronic fence boundary according to the area division result.

[0045] Specifically: (Take a single power device as an example, multiple power devices repeat the following six steps to generate their respective boundaries in turn)

[0046] (1) Project the 2D bounding box onto the 3D point cloud to obtain the 3D point cloud data of the power equipment as P = {p i |i=1,2,...,n}, where p i =(x i ,y i ,z i ) represents the three-dimensional coordinates of each point.

[0047] (2) Use the noise reduction algorithm (Gaussian filtering) to remove the noise point cloud information and obtain the optimized point cloud P ′ , P ′ ={pi ′ |i=1,2,...,m}, where m≤n.

[0048] (3) Calculate the boundary value of the point cloud, including:

[0049] The minimum and maximum x-coordinates: min =min(x i ), x max =max(x i );

[0050] The minimum and maximum y-coordinate values: min =min(y i ), y max =max(y i );

[0051] The minimum and maximum values ​​of the z coordinate: z min =min(z i ), z max =max(z i ).

[0052] (4) Construct the minimum outer bounding box. The coordinates of the eight vertices of the minimum outer bounding box are: 1 =(x min ,y min ,z min ), v 2 =(x min ,y min ,z max ), v 3 =(x min ,y max ,z min ), v 4 =(x min ,y max ,z max ), v 5 =(x max ,y min ,z min ), v 6 =(x max ,y min ,z max ), v 7 =(x max ,y max ,z min ), v 8 =(x max ,y max ,z max ).

[0053] These 8 vertices correspond to the 3D electronic boundaries of the electrical device, and each electrical device corresponds to its own 8 vertices.

[0054] (5) Calculate the length, width and height of the outer bounding box:

[0055] Length L = x max -x min ;

[0056] Width W = y max -y min ;

[0057] Height H = z max -z min .

[0058] (6) Update the point cloud data P(t) with time t, recalculate the point cloud boundary value and the minimum outer bounding box, and dynamically adjust the outer bounding box parameters until convergence. The final electric power equipment electronic fence is represented as: Vertex V = {v 1 ,v 2 ,v 3 ,v 4 ,v 5 ,v 6 ,v 7 ,v 8}; length L = x max -x min ; Width W = y max -y min ; Height H = z max -z min .

[0059] like Figure 1 Finally, the 3D electronic fence of image C is projected onto the 2D map, as shown in Figure 1 In the picture d, the gray area in the upper left corner is the generated 2D navigation electronic fence, which indicates the prohibited area where the electric cleaning robot is prohibited from cleaning. The middle is the electronic fence of the power equipment, and the rest of the area is the working area of ​​the electric cleaning robot, which controls the action of the electric cleaning robot.

[0060] Example 2

[0061] This embodiment provides an electronic fence generation system for map modeling of an electric cleaning robot, including:

[0062] An acquisition module is configured to acquire environmental perception data and generate a 2D environmental map model including power equipment;

[0063] An identification module is configured to identify the power equipment according to the 2D environment map model, and divide the power equipment into a working area, a power equipment area and a prohibited area;

[0064] A projection module is configured to project a bounding box of the identified power equipment area into a 3D point cloud, thereby obtaining three-dimensional point cloud data;

[0065] The generation module is configured to determine the point cloud boundary value according to the three-dimensional point cloud data, thereby constructing a minimum outer bounding box and calculating the length, width and height of the minimum outer bounding box, thereby obtaining the electronic fence of the power equipment, and at the same time controlling the action of the power cleaning robot in combination with the divided working area and prohibited area.

[0066] It should be noted that the above modules correspond to the steps described in Example 1, and the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above Example 1. It should be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer executable instructions.

[0067] In further embodiments, there is also provided:

[0068] An electronic device includes a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method described in Embodiment 1 is performed. For the sake of brevity, it will not be described in detail here.

[0069] It should be understood that in this embodiment, the processor may be a central processing unit CPU, and the processor may also be other general-purpose processors, digital signal processors DSP, application-specific integrated circuits ASIC, off-the-shelf programmable gate arrays FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0070] The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0071] A computer-readable storage medium is used to store computer instructions, and when the computer instructions are executed by a processor, the method described in Example 1 is completed.

[0072] The method in Example 1 can be directly embodied as a hardware processor, or a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it is not described in detail here.

[0073] A computer program product includes a computer program, and when the computer program is executed by a processor, the method described in embodiment 1 is implemented.

[0074] The present invention also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer executable instructions, such as instructions included in a program module, which are executed in a device on a real or virtual processor of the target to perform the process / method as described above. Typically, program modules include routines, programs, libraries, objects, classes, components, data structures, etc. that perform specific tasks or implement specific abstract data types. In various embodiments, the functions of program modules can be combined or divided between program modules as needed. Machine executable instructions for program modules can be executed in local or distributed devices. In distributed devices, program modules can be located in local and remote storage media.

[0075] The computer program code for implementing the method of the present invention can be written in one or more programming languages. These computer program codes can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the computer or other programmable data processing device, causes the function / operation specified in the flow chart and / or block diagram to be implemented. The program code can be executed completely on a computer, partially on a computer, as an independent software package, partially on a computer and partially on a remote computer or completely on a remote computer or server.

[0076] In the context of the present invention, computer program codes or related data may be carried by any appropriate carrier to enable a device, apparatus or processor to perform the various processes and operations described above. Examples of carriers include signals, computer readable media, etc. Examples of signals may include electrical, optical, radio, acoustic or other forms of propagation signals, such as carrier waves, infrared signals, etc.

[0077] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with this embodiment can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0078] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A method for generating an electronic fence for map modeling of an electric cleaning robot, characterized in that: include: Obtain environmental perception data and use it to generate a 2D environmental map model including power equipment; According to the 2D environmental map model, identify the power equipment and divide the working area, power equipment area and prohibited area according to the power equipment; Projecting the bounding box of the identified power equipment area into the 3D point cloud, thereby obtaining three-dimensional point cloud data; The point cloud boundary value is determined according to the three-dimensional point cloud data, and the minimum outer bounding box is constructed and the length, width and height of the minimum outer bounding box are calculated to obtain the electronic fence of the power equipment. At the same time, the action of the power cleaning robot is controlled in combination with the divided working area and prohibited area.

2. The method for generating an electronic fence for map modeling of an electric cleaning robot as claimed in claim 1, characterized in that: LiDAR and camera sensors are used to obtain environmental perception data and establish a three-dimensional point cloud environmental model, which is used for real-time positioning and environmental map construction to generate a 2D environmental map model that includes power equipment.

3. The method for generating an electronic fence for map modeling of an electric cleaning robot as claimed in claim 1, characterized in that: Perform semantic analysis on the 2D environmental map model to identify the power equipment, then perform semantic segmentation to divide the boundaries of various areas, and frame the identified power equipment with a bounding box.

4. The method for generating an electronic fence for map modeling of an electric cleaning robot as claimed in claim 1, characterized in that: After the noise point cloud information in the three-dimensional point cloud data is removed by using a denoising algorithm, the determined point cloud boundary values ​​include: the minimum and maximum values ​​of the x-coordinate, the minimum and maximum values ​​of the y-coordinate, and the minimum and maximum values ​​of the z-coordinate.

5. The method for generating an electronic fence for map modeling of an electric cleaning robot as claimed in claim 4, characterized in that: The electronic fence includes the vertices and length, width and height of the minimum outer bounding box; wherein the length is obtained according to the difference between the minimum and maximum values ​​of the x-coordinate, the width is obtained according to the difference between the minimum and maximum values ​​of the y-coordinate, and the height is obtained according to the difference between the minimum and maximum values ​​of the z-coordinate.

6. The method for generating an electronic fence for map modeling of an electric cleaning robot as claimed in claim 4, characterized in that: The vertex coordinates of the minimum outer bounding box include: v1 = (x min ,y min ,z min ), v2=(x min ,y min ,z max ), v3=(x min ,y max ,z min ), v4=(x min ,y max ,z max ), v5=(x max ,y min ,z min ), v6=(x max ,y min ,z max ), v7=(x max ,y max ,z min ), v8=(x max ,y max ,z max ), where x min and x max is the minimum and maximum value of the x coordinate, y min and max is the minimum and maximum value of the y coordinate, z min and z max are the minimum and maximum values ​​of the z coordinate.

7. An electronic fence generation system for map modeling of an electric cleaning robot, characterized in that: include: An acquisition module is configured to acquire environmental perception data and generate a 2D environmental map model including power equipment; An identification module is configured to identify the power equipment according to the 2D environment map model, and divide the power equipment into a working area, a power equipment area and a prohibited area; A projection module is configured to project a bounding box of the identified power equipment area into a 3D point cloud, thereby obtaining three-dimensional point cloud data; The generation module is configured to determine the point cloud boundary value according to the three-dimensional point cloud data, thereby constructing a minimum outer bounding box and calculating the length, width and height of the minimum outer bounding box, thereby obtaining the electronic fence of the power equipment, and at the same time controlling the action of the power cleaning robot in combination with the divided working area and prohibited area.

8. An electronic device, characterized in that: The method comprises a memory and a processor and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method according to any one of claims 1 to 6 is completed.

9. A computer-readable storage medium, characterized in that: Used to store computer instructions, which, when executed by a processor, complete the method described in any one of claims 1 to 6.

10. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 6.

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