CN-121995810-A - Control method and device of sweeping robot, sweeping robot and storage medium

CN121995810ACN 121995810 ACN121995810 ACN 121995810ACN-121995810-A

Abstract

The embodiment of the application is suitable for the technical field of intelligent home and provides a control method and device of a sweeping robot, the sweeping robot and a storage medium, wherein the method comprises the steps that a ranging sensor of the sweeping robot collects environmental point cloud data in the current direction; and controlling the sweeping robot to execute preset actions according to the environment point cloud data intersection information so as to acquire environment point cloud data in multiple directions. By the method, the sweeping robot can be rotated in time, so that the scanning visual angle of a ranging sensor of the sweeping robot is adjusted, and the quality of an established map block of the sweeping robot is optimized.

Inventors

LI BAOYU
CAO LINA
LI ZHE
ZHU HAI

Assignees

北京石头创新科技有限公司

Dates

Publication Date: 20260508
Application Date: 20241108

Claims (13)

1. The control method of the sweeping robot is characterized by comprising the following steps: the method comprises the steps that a ranging sensor of a sweeping robot collects environmental point cloud data in the current direction; Determining intersection information of the environmental point cloud data according to the environmental point cloud data and the current built map block of the sweeping robot; And controlling the sweeping robot to execute preset actions according to the intersection information of the environmental point cloud data so as to acquire the environmental point cloud data in multiple directions.
2. The method of claim 1, wherein the determining the ambient point cloud data intersection information from the ambient point cloud data and the current established map tile of the sweeping robot comprises: Converting the environmental point cloud data under a ranging sensor coordinate system into a global coordinate system to obtain global coordinates of all point cloud data in the environmental point cloud data in the global coordinate system, wherein the current established map block is established according to the global coordinate system; And determining the intersection information of the environmental point cloud data according to the global coordinates of the point cloud data and the current built map block.
3. The method of claim 2, wherein the determining the ambient point cloud data intersection information from global coordinates of the respective point cloud data and the current established map tile comprises: determining internal point cloud data falling in the current established map block and external point cloud data falling outside the current established map block from the environmental point cloud data according to global coordinates of the point cloud data; And dividing the number of the external point cloud data by the number of the internal point cloud data to obtain the environment point cloud data intersection information.
4. The method of claim 3, wherein controlling the sweeping robot to perform a preset action according to the intersection information of the environmental point cloud data to collect the environmental point cloud data in a plurality of directions comprises: and if the intersection information of the environmental point cloud data is larger than a first numerical value, controlling the sweeping robot to execute a preset action so as to acquire the environmental point cloud data in multiple directions.
5. The method of claim 2, wherein the determining the ambient point cloud data intersection information from global coordinates of the respective point cloud data comprises: determining external point cloud data falling outside the currently established map block from the environmental point cloud data according to global coordinates of the point cloud data; determining the total amount of point cloud data in the environmental point cloud data and the number of external point cloud data; And dividing the number of the external point cloud data by the total amount of the point cloud data to obtain the environmental point cloud data set information.
6. The method of claim 5, wherein controlling the sweeping robot to perform a preset action according to the environmental point cloud data set information to collect environmental point cloud data of a plurality of directions comprises: And if the environmental point cloud data set information is larger than a second value, controlling the sweeping robot to execute a preset action so as to acquire environmental point cloud data in multiple directions.
7. The method of any one of claims 1-6, wherein the controlling the sweeping robot to perform a preset action to collect environmental point cloud data in multiple directions comprises a rotating action; Acquiring first state information of the sweeping robot when the sweeping robot rotates last time and second state information of the sweeping robot, wherein the first state information comprises a first time point, a first position and/or a first direction of the sweeping robot when the sweeping robot rotates last time, and the second state information comprises a current second time point, a second position and/or a second direction of the sweeping robot; Determining a state variation value of the sweeping robot through the first state information and the second state information, wherein the state variation value comprises a time difference between the first time point and the second time point, a distance value between the first position and the second position and/or an angle difference between the first direction and the second direction; and controlling the sweeping robot to rotate according to a preset angle according to the state variation value so as to acquire environmental point cloud data in multiple directions.
8. The method of claim 7, wherein controlling the sweeping robot to rotate according to a preset angle according to the state variation value to collect environmental point cloud data in a plurality of directions comprises: When the state variation value at least meets one of the following conditions, the sweeping robot is controlled to rotate according to a preset angle, the scanning view angle of the ranging sensor is changed, so that the ranging sensor collects the environmental point cloud data in multiple directions under the scanning view angle, and the conditions comprise that the time difference is larger than a time threshold, the distance value is larger than a distance threshold and the angle difference is larger than an angle threshold.
9. The method of claim 1, wherein the method further comprises: and updating the current established map block according to the environmental point cloud data acquired in a plurality of directions.
10. A control device of a sweeping robot, characterized by comprising: The ranging sensor is arranged on the sweeping robot and is used for collecting environmental point cloud data in the current direction; the determining module is used for determining environmental point cloud data set information according to the environmental point cloud data and the current built map block of the sweeping robot; And the execution module is used for controlling the sweeping robot to execute preset actions according to the environmental point cloud data set information so as to acquire environmental point cloud data in multiple directions.
11. A robot cleaner comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any one of claims 1-9 when executing the computer program.
12. A computer program product, characterized in that the computer program product, when run on a sweeping robot, causes the sweeping robot to perform the method of any one of claims 1-9.
13. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the method according to any of claims 1-9.

Description

Control method and device of sweeping robot, sweeping robot and storage medium Technical Field The application belongs to the technical field of intelligent home, and particularly relates to a control method and device of a sweeping robot, the sweeping robot and a storage medium. Background In the cleaning process, the cleaning robot needs to perform environment sensing, so that cleaning tasks can be performed or obstacle avoidance can be performed based on the sensed environment. When sensing the environment, the sweeping robot can acquire the environmental point cloud data by using a ranging sensor. However, the view angle of the ranging sensor is limited, so that the environmental point cloud data acquired by the ranging sensor cannot cover all surrounding areas, and a visual blind area exists in the sweeping robot. Because of the existence of visual dead zones, when the sweeping robot performs positioning or mapping, the map obtained by the sweeping robot is distorted. In particular, when the robot is in a limited area, the visual blind area of the robot is larger due to the view angle of the robot itself and the restriction of obstacles in the limited area, so that it may be difficult to perceive a correct environment map. If an accurate map cannot be obtained, the sweeping robot is easy to sweep incompletely or cannot avoid the obstacle correctly in the running process. Disclosure of Invention In view of the above, the embodiments of the present application provide a method and apparatus for controlling a sweeping robot, and a storage medium, so as to improve the quality of the construction of the sweeping robot. A first aspect of an embodiment of the present application provides a control method of a sweeping robot, including: the method comprises the steps that a ranging sensor of a sweeping robot collects environmental point cloud data in the current direction; Determining environmental point cloud data set information according to the environmental point cloud data and the current built map block of the sweeping robot; and controlling the sweeping robot to execute preset actions according to the environmental point cloud data set information so as to acquire environmental point cloud data in multiple directions. A second aspect of an embodiment of the present application provides a control device for a sweeping robot, including: The ranging sensor is arranged on the sweeping robot and is used for collecting environmental point cloud data in the current direction; the determining module is used for determining environmental point cloud data set information according to the environmental point cloud data and the current built map block of the sweeping robot; And the execution module is used for controlling the sweeping robot to execute preset actions according to the environmental point cloud data set information so as to acquire environmental point cloud data in multiple directions. A third aspect of an embodiment of the present application provides a sweeping robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method according to the first aspect when executing the computer program. A fourth aspect of embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements a method as described in the first aspect above. A fifth aspect of an embodiment of the application provides a computer program product for causing a sweeping robot to perform the method of the first aspect described above when the computer program product is run on the sweeping robot. Compared with the prior art, the embodiment of the application has the following advantages: The sweeping robot in the embodiment of the application can be provided with a ranging sensor. The sweeping robot can collect environmental point cloud data through a ranging sensor. The sweeping robot can determine environmental point cloud data set information according to the environmental point cloud data and the currently built map blocks of the sweeping robot. Based on the environmental point cloud data set information, it can be determined whether mapping based on the currently acquired environmental point cloud data would result in map distortion. When mapping, the sweeping robot may incorporate information in the ambient point cloud data into the current map block being mapped. When information merging is carried out, information splicing is carried out on the environment point cloud data and the current built map blocks by depending on anchor points. This requires that enough of the ambient point cloud data fall within the currently built map tile. Based on the environmental point cloud data set information, it can be judged whether enough point cloud data in the environmental point cloud data falls in the current built map block or not, and therefore, whether map dist