CN103565366A - Cleaning robot and control method thereof - Google Patents
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- CN103565366A CN103565366A CN201210279944.8A CN201210279944A CN103565366A CN 103565366 A CN103565366 A CN 103565366A CN 201210279944 A CN201210279944 A CN 201210279944A CN 103565366 A CN103565366 A CN 103565366A
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Abstract
The invention discloses a cleaning robot and a control method thereof. The robot comprises a first container, a second container, a camera and a recognition device. The camera is used for capturing images of ambient objects during the working process of the cleaning robot; the recognition device is used for performing matching on the captured images and pre-stored images in a database so as to determine whether the objects are useful or rubbish; the objects are put in the first container under the condition that the objects are determined to be useful, or put in the second container if the objects are rubbish. According to the scheme provided by the embodiment, the useful objects can be avoided cleaning by mistake while cleaning is performed.
Description
Technical field
The present invention relates to Robotics, be specifically related to a kind of sweeping robot and control method thereof, can identify useful object or avoid cleaning useful object by mistake.
Background technology
Sweeping robot is widely used in office or family.But the sweeping robot of prior art only, for cleaning ground, namely gets up objects all on ground and refuse collection.In this process, the small articles that some are important, such as coin, ring or necklet etc., may be gone out by cleaning as rubbish, to user, causes damage.
Patent documentation 1 (KR20080082711) has disclosed the sweeping machine robot system of a kind of use location recognizer.For position and the direction of minimizing image processing time and identification sweeping robot, the method that patent documentation 1 proposes to process by image is proofreaied and correct identification marking, such as proofreading and correct barrel-shaped distortion etc., thereby can determine exactly the center of identification marking.
Patent documentation 2 (US8108092B2) discloses a kind of sweeping robot that can carry out dry type cleaning and wet cleaning.This patent documentation 2 has the first cleaning portion that can clean ground and the second cleaning portion that carries out wet cleaning by applying cleaning liquid.This sweeping robot also have cleaning liquid provide part and from cleaning surface collection to the discarded object storage area of obsolete material.
Existing sweeping robot is all only to possess cleaning function, also just removes the various items that robot runs into, even run into the important small articles such as coin, ring, robot also goes out its cleaning.
Summary of the invention
One or more problems of considering prior art, the object of this invention is to provide sweeping robot and control method thereof, can avoid cleaning useful object by mistake.
In another aspect of the present invention, a kind of sweeping robot has been proposed, comprising: the first container, second container, video camera is caught the image of object around in the described sweeping robot course of work; Recognition device, the image that video camera is caught mates and determines that this object is useful or rubbish with image pre-stored in database, wherein definite this object be useful in the situation that this object be placed into described the first container, otherwise insert described second container.
In another aspect of this invention, propose a kind of method of controlling sweeping robot, comprised step: in the sweeping robot course of work, caught the image of object around; Caught image is mated and determines that this object is useful or rubbish with image pre-stored in database, wherein definite this object be useful in the situation that this object be placed into the first container, otherwise insert second container.
According to the scheme of above-described embodiment, can in cleaning, avoid that useful object is used as to refuse sweeping and fall.
Accompanying drawing explanation
In detailed description below in conjunction with accompanying drawing, above-mentioned feature and advantage of the present invention will be more obvious, wherein:
Fig. 1 shows according to the schematic plan of embodiment of the present invention sweeping robot;
Fig. 2 shows according to the front view of the sweeping robot of the embodiment of the present invention;
Fig. 3 shows according to the structural representation of the special container of the sweeping robot of the embodiment of the present invention and dust receptacle;
Fig. 4 shows according to the schematic block diagram of the sweeping robot of the embodiment of the present invention;
Fig. 5 shows according to the course of work of the sweeping robot of the embodiment of the present invention example;
Fig. 6 shows another example according to the course of work of the sweeping robot of the embodiment of the present invention; And
Fig. 7 shows another example according to the course of work of the sweeping robot of the embodiment of the present invention.
The specific embodiment
Below, with reference to accompanying drawing, describe the preferred embodiment of the present invention in detail.In the accompanying drawings, although be shown in different accompanying drawings, identical Reference numeral is for representing identical or similar assembly.For clarity and conciseness, the detailed description that is included in the known function and structure here will be omitted, otherwise they will make theme of the present invention unclear.
According to some embodiments of the present invention, sweeping robot has object recognition function.Sweeping robot comprises two containers and is arranged on the video camera of robot front end, is used for scan image carry out object identification, thereby useful object and rubbish by those such as coin, ring distinguish, and marks the position of those useful objects.
According to other embodiment, the time that sweeping robot is also stored operating path and collected object.If find some important objects losses, user can allow robot find according to the image of this object, and tells user whether this object is dropped.In addition, identification division can be stored a series of images by camera-scanning in the course of the work.System can remember what is abandon, and the image of the image of these objects and storage is compared.Sweeping robot can be placed on the object that should not abandon in special container after identification matching process automatically, and the position of this object of mark, and rubbish is placed in dust receptacle.
Fig. 1 shows according to the schematic plan of embodiment of the present invention sweeping robot.As shown in Figure 1, according to the sweeping robot of the embodiment of the present invention, camara module 12, special container 10 and dust receptacle 11 have been equipped with.The sweeping robot of this embodiment also comprises identification division (not shown).As shown in Figure 2, camara module 12, camera for example, is arranged on the front end of sweeping robot, and when robot motion, camera is caught the image of the various small articles that run into.
Camara module 12 is caught the image of the small articles running in the sweeping robot course of work, and is stored in memory.Identification division mates the image of the small articles of catching with image pre-stored in database, once the attributes match of two width images, the small articles that judgement runs into is useful, is likely the useful object that user loses, for example coin, ring etc.In this case, cleaning is partly judged as this useful object and is placed among special container, and in the situation that being judged as rubbish, is inserted in dust receptacle.
According to another embodiment, user can arrange and not clean object.For example the image of ground some particular artifact is imported in the database of sweeping robot, the foundation of not cleaning object as judgement.When sweeping robot runs into such object, by judge image whether with database in images match determine whether cleaning this object.In this case, if do not clean object, sweeping robot is walked around this particular artifact.
Fig. 3 shows according to the structural representation of the special container of the sweeping robot of the embodiment of the present invention and dust receptacle.As shown in Figure 3, according to the special container 10 in the sweeping robot of the embodiment of the present invention, be connected by pipe with dust receptacle 11, and the position at above-mentioned two containers of connection of pipe is provided with valve part, as shown in the mark 1 in Fig. 3, thereby valve part is connected to the intake section of sweeping robot according to the judged result of identification division a container in two containers at identification division.
Fig. 4 shows according to the schematic block diagram of the sweeping robot of the embodiment of the present invention.As shown in Figure 4, camara module 12 is caught the image of the various small articles that run into, and sends identification module 13 to.Identification module 13 mates this image with image pre-stored in database.If there is the image of coupling, think that this small articles is useful, therefore clean module 14 and be placed among special container, otherwise it is placed in dust receptacle as rubbish.
Fig. 5 shows according to the course of work of the sweeping robot of the embodiment of the present invention example.As shown in Figure 5, the sweeping robot of the embodiment of the present invention can avoid mistake that useful object is cleaned when carrying out cleaning task.
In step 51, the small articles running in the camera-scanning sweeping robot course of work, for example, carries out object search in step 52, finds, after small articles, with regard to catching the image of small articles, to send it to identification module 13.In step 53,13 pairs of images of identification module are analyzed, for example, extract the feature of image, and the feature of the image in extracted feature and database is compared, and judge in step 54 whether the two mates.
In coupling in the situation that, in step 55, identification module 13 in memory, store surrounding's layout in the position of the small articles that runs into of mark, and inserted in special container to User Alarms in step 57 simultaneously.
In unmatched situation, in step 56, cleaning module 14 using this object among rubbish is placed to dust receptacle.
Fig. 6 shows another example according to the course of work of the sweeping robot of the embodiment of the present invention.As shown in Figure 6, according to the sweeping robot of the embodiment of the present invention, can also only be operated in object searching modes.In step 61, user finds certain object loss, just in step 62, the image of this object (supposing to have the image of this object) is input in sweeping robot.Whether certain images match in identification module 13 these images of judgement and database.If do not mated, to other the place outside sweeping robot working range, go to find.If coupling, the position to this object of user notification in step 65.
Fig. 7 shows another example according to the course of work of the sweeping robot of the embodiment of the present invention.As shown in Figure 7, according to the sweeping robot of the embodiment of the present invention, can find specific object according to user's requirement, for example, in factory, find ground electronic component.
In step 71, the image of the electronic component that user will find is input in sweeping robot.In step 72， robot, start working and scan by camera.In step 73, the image of the small articles that identification module is caught camera mates with the image of user's input, if coupling is inserted special container and carried out record in step 76 in step 75.Otherwise, in step 74, this object is inserted in dust receptacle as rubbish.Repeat like this, just the particular electronic component in fabrication facility floor can be collected together.
According to embodiments of the invention, the database based on robot interior, sweeping robot can be collected " suspicious " object, itself and rubbish is separated or to User Alarms, found it may is useful object.The position of found object can also be remembered by this robot, and therefore, when finding that what loses in room, user can be input to the image of losing object in sweeping robot, sees and whether has been cleaned by mistake.Meanwhile, the image data base in sweeping robot can be stored a series of images of various items before robot work by scanning.If in cleaning process, the attributes match of the image that sweeping robot discovery is caught and the image of certain object, inserts this object among special container, and the position of this object of mark.
According to embodiments of the invention, a kind of sweeping robot is provided, comprising: two containers, video camera and recognition devices.Video camera is caught the image of object around in the sweeping robot course of work.The image that recognition device is caught video camera mates and determines that this object is useful or rubbish with image pre-stored in database, wherein definite this object be useful in the situation that this object be placed into described the first container, otherwise insert described second container.
According to embodiments of the invention, described sweeping robot also comprises: layout storage device, the layout of storage sweeping robot work-yard; Positioner is determined the position of this useful object, and is indicated this position in the layout of storing at described layout storage device in the situation that described recognition device finds that there is with object.
According to embodiments of the invention, described sweeping robot is operated under the pattern of independent execution cleaning or is operated in to carry out under the pattern of finding object or be operated in when carrying out cleaning function and carries out under the pattern of finding object.
According to embodiments of the invention, described recognition device receives the image of the appointment object of user's input, when sweeping robot is determined the image of described appointment object and images match that video camera is caught, the object of this appointment is put into the first container, and notify user simultaneously.
According to embodiments of the invention, the image of object is not cleaned in the appointment that described recognition device also receives user input, when sweeping robot determines that the image of object and images match that video camera is caught are not cleaned in described appointment, and this object of active dodge.
According to embodiments of the invention, described sweeping robot also comprises: notifying device, when carry out finding object function and cleaning function, at described recognition device, find that there is use object in the situation that simultaneously, and to user notification, find this useful object.
According to embodiments of the invention, described the first container has the first access road, described second container has the second access road, and described the first access road is connected with a valve with described the second access road, described valve response allows this object to enter described the first container or described second container in the matching result of described recognition device.
According to embodiments of the invention, described sweeping robot also comprises: notifying device, and regularly to the resulting matching result of recognition device described in user notification
Although adopted the mode of separate module to be described to camara module and identification module in the above description, those skilled in the art should be appreciated that and can, for example, identification module be incorporated in camara module by some block mergings together.
Above detailed description is by user's block diagram, flow chart and/or example, the numerous embodiment that set forth sweeping robot and/or method.In the situation that this block diagram, flow chart and/or example comprise one or more functions and/or operation, it will be understood by those skilled in the art that each function in this block diagram, flow chart or example and/or operation can by various hardware, software, firmware or in fact their any combination come separately and/or jointly realize.In one embodiment, described in embodiments of the invention, some parts of theme can realize by special IC (ASIC), field programmable gate array (FPGA), digital signal processor (DSP) or other integrated forms.Yet, those skilled in the art will recognize that, some aspects of embodiment disclosed herein can realize in integrated circuit on the whole or partly equally, (be for example embodied as one or more computer programs of moving on one or more computer, be embodied as one or more programs of moving in one or more computer system), (be for example embodied as one or more programs of moving on one or more processors, be embodied as one or more programs of moving on one or more microprocessors), be embodied as firmware, or be embodied as in fact any combination of aforesaid way, and those skilled in the art are according to the disclosure, to possess design circuit and/or write software and/or the ability of firmware code.In addition, those skilled in the art will recognize that, described in the disclosure, the mechanism of theme can be distributed as the program product of various ways, and regardless of the actual particular type that is used for carrying out the signal bearing medium of distribution, and the exemplary embodiment of theme is all applicable described in the disclosure.The example of signal bearing medium includes but not limited to: recordable-type media, as floppy disk, hard disk drive, compact-disc (CD), digital universal disc (DVD), digital magnetic tape, computer storage etc.; And transmission type media, for example, as numeral and/or analogue communication medium (, optical fiber cable, waveguide, wire communication link, wireless communication link etc.).
Although described the present invention with reference to several exemplary embodiments, should be appreciated that term used is explanation and exemplary and nonrestrictive term.The spirit or the essence that because the present invention can specifically implement in a variety of forms, do not depart from invention, so be to be understood that, above-described embodiment is not limited to any aforesaid details, and explain widely in the spirit and scope that should limit in the claim of enclosing, therefore fall into whole variations in claim or its equivalent scope and remodeling and all should be the claim of enclosing and contain.
Claims (15)
1. a sweeping robot, comprising:
The first container,
Second container,
Video camera is caught the image of object around in the described sweeping robot course of work;
Recognition device, the image that described video camera is caught mates and determines that described object is useful or rubbish with image pre-stored in database, wherein definite described object be useful in the situation that described object be placed into described the first container, otherwise insert described second container.
2. sweeping robot as claimed in claim 1, also comprises:
Layout storage device, stores the layout of the work-yard of described sweeping robot;
Positioner is determined the position of described object, and is indicated this position in the layout of storing at described layout storage device in the situation that described recognition device finds that described object is useful.
3. sweeping robot as claimed in claim 1, wherein, described sweeping robot is operated under the pattern of independent execution cleaning or is operated in to carry out under the pattern of finding object or be operated in when carrying out cleaning function and carries out under the pattern of finding object.
4. sweeping robot as claimed in claim 1, wherein, described recognition device receives the image of the appointment object of user's input, when described sweeping robot is determined the image of described appointment object and images match that described video camera is caught, the object of this appointment is put into the first container, and notify user simultaneously.
5. sweeping robot as claimed in claim 1, wherein, the image of object is not cleaned in the appointment that described recognition device also receives user input, when sweeping robot determines that the image of object and images match that described video camera is caught are not cleaned in described appointment, and this object of active dodge.
6. sweeping robot as claimed in claim 1, also comprises:
Notifying device when carrying out searching object function and cleaning function, in the situation that described recognition device finds that described object is useful, finds described object to user notification simultaneously.
7. sweeping robot as claimed in claim 1, wherein said the first container has the first access road, described second container has the second access road, and described the first access road is connected with a valve with described the second access road, described valve response allows described object to enter described the first container or described second container in the matching result of described recognition device.
8. sweeping robot as claimed in claim 1, also comprises:
Notifying device, regularly to the resulting matching result of recognition device described in user notification.
9. a method of controlling sweeping robot, comprises step:
In the sweeping robot course of work, catch the image of object around;
Caught image is mated and determines that described object is useful or rubbish with image pre-stored in database, wherein definite described object be useful in the situation that described object be placed into the first container, otherwise insert second container.
10. method as claimed in claim 9, wherein, described sweeping robot has layout storage device, stores the layout of the work-yard of described sweeping robot, and described method also comprises step:
In the situation that finding that described object is useful, determine the position of described object, and in the layout of storing at layout storage device, indicate this position.
11. methods as claimed in claim 9, wherein, described sweeping robot is operated under the pattern of independent execution cleaning or is operated in to carry out under the pattern of finding object or be operated in when carrying out cleaning function and carries out under the pattern of finding object.
12. methods as claimed in claim 9, wherein, described sweeping robot receives the image of the appointment object of user's input, when described sweeping robot is determined the image of described appointment object and images match that described video camera is caught, the object of this appointment is put into the first container, and notify user simultaneously.
13. methods as claimed in claim 9, wherein, the image of object is not cleaned in the appointment that described sweeping robot receives user's input, when sweeping robot determines that the image of object and images match that described video camera is caught are not cleaned in described appointment, and this object of active dodge.
14. methods as claimed in claim 9, also comprise step:
In the situation that finding that described object is useful, to user notification, find described object.
15. methods as claimed in claim 9, also comprise step:
Regularly to user notification matching result.
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| CN201210279944.8A CN103565366A (en) | 2012-08-08 | 2012-08-08 | Cleaning robot and control method thereof |
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| CN201210279944.8A CN103565366A (en) | 2012-08-08 | 2012-08-08 | Cleaning robot and control method thereof |
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| CN105380575A (en) * | 2015-12-11 | 2016-03-09 | 美的集团股份有限公司 | Control method and system for sweeping robot, cloud server and sweeping robot |
| WO2016090827A1 (en) * | 2014-12-11 | 2016-06-16 | 小米科技有限责任公司 | Garbage cleanup method and apparatus |
| CN107616759A (en) * | 2017-08-31 | 2018-01-23 | 维沃移动通信有限公司 | The method for cleaning and system of a kind of object |
| CN107625489A (en) * | 2017-08-25 | 2018-01-26 | 珠海格力电器股份有限公司 | Processing method, device, processor and the sweeping robot of obstacle information |
| CN108209753A (en) * | 2018-01-16 | 2018-06-29 | 刘肖俊 | A kind of novel high-reliability robot for cleaning floor |
| CN108814450A (en) * | 2018-07-31 | 2018-11-16 | 上海爱优威软件开发有限公司 | A kind of method, system and terminal interacted with sweeping robot |
| CN109008791A (en) * | 2018-07-06 | 2018-12-18 | 四川斐讯信息技术有限公司 | One kind prevents dust catcher from missing clean method and system |
| CN110795964A (en) * | 2018-08-01 | 2020-02-14 | 珠海格力电器股份有限公司 | Sweeping method and device of sweeping robot |
| CN111358362A (en) * | 2018-12-26 | 2020-07-03 | 珠海市一微半导体有限公司 | Cleaning control method and device of visual robot, chip and sweeping robot |
| WO2020177281A1 (en) * | 2019-03-04 | 2020-09-10 | 深圳市银星智能科技股份有限公司 | Cleaning robot and cleaning method |
| CN112733571A (en) * | 2019-10-14 | 2021-04-30 | 杭州萤石软件有限公司 | Robot control method, apparatus, and storage medium |
| US20220185318A1 (en) * | 2020-12-15 | 2022-06-16 | Toyota Jidosha Kabushiki Kaisha | Information processing device, information processing system, and program |
| US11881019B2 (en) | 2018-09-20 | 2024-01-23 | Cortexia Sa | Method and device for tracking and exploiting at least one environmental parameter |
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- 2012-08-08 CN CN201210279944.8A patent/CN103565366A/en active Pending
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| CN105744218B (en) * | 2014-12-11 | 2019-04-26 | 小米科技有限责任公司 | Rubbish method for cleaning and device |
| WO2016090827A1 (en) * | 2014-12-11 | 2016-06-16 | 小米科技有限责任公司 | Garbage cleanup method and apparatus |
| CN105744218A (en) * | 2014-12-11 | 2016-07-06 | 小米科技有限责任公司 | Garbage cleaning method and apparatus |
| RU2624737C2 (en) * | 2014-12-11 | 2017-07-06 | Сяоми Инк. | Method and device for cleaning waste |
| US9862098B2 (en) | 2014-12-11 | 2018-01-09 | Xiaomi Inc. | Methods and devices for cleaning garbage |
| CN105380575A (en) * | 2015-12-11 | 2016-03-09 | 美的集团股份有限公司 | Control method and system for sweeping robot, cloud server and sweeping robot |
| CN107625489A (en) * | 2017-08-25 | 2018-01-26 | 珠海格力电器股份有限公司 | Processing method, device, processor and the sweeping robot of obstacle information |
| CN107616759A (en) * | 2017-08-31 | 2018-01-23 | 维沃移动通信有限公司 | The method for cleaning and system of a kind of object |
| CN108209753A (en) * | 2018-01-16 | 2018-06-29 | 刘肖俊 | A kind of novel high-reliability robot for cleaning floor |
| CN109008791B (en) * | 2018-07-06 | 2022-10-14 | 杭州吉吉知识产权运营有限公司 | Method and system for preventing dust collector from being cleaned by mistake |
| CN109008791A (en) * | 2018-07-06 | 2018-12-18 | 四川斐讯信息技术有限公司 | One kind prevents dust catcher from missing clean method and system |
| CN108814450A (en) * | 2018-07-31 | 2018-11-16 | 上海爱优威软件开发有限公司 | A kind of method, system and terminal interacted with sweeping robot |
| CN110795964A (en) * | 2018-08-01 | 2020-02-14 | 珠海格力电器股份有限公司 | Sweeping method and device of sweeping robot |
| CN110795964B (en) * | 2018-08-01 | 2022-11-18 | 珠海格力电器股份有限公司 | Sweeping method and device of sweeping robot |
| US11881019B2 (en) | 2018-09-20 | 2024-01-23 | Cortexia Sa | Method and device for tracking and exploiting at least one environmental parameter |
| CN111358362B (en) * | 2018-12-26 | 2022-03-04 | 珠海一微半导体股份有限公司 | Cleaning control method and device of visual robot, chip and sweeping robot |
| CN111358362A (en) * | 2018-12-26 | 2020-07-03 | 珠海市一微半导体有限公司 | Cleaning control method and device of visual robot, chip and sweeping robot |
| WO2020177281A1 (en) * | 2019-03-04 | 2020-09-10 | 深圳市银星智能科技股份有限公司 | Cleaning robot and cleaning method |
| CN112733571A (en) * | 2019-10-14 | 2021-04-30 | 杭州萤石软件有限公司 | Robot control method, apparatus, and storage medium |
| CN112733571B (en) * | 2019-10-14 | 2024-05-17 | 杭州萤石软件有限公司 | Control method, device and storage medium for robot |
| US20220185318A1 (en) * | 2020-12-15 | 2022-06-16 | Toyota Jidosha Kabushiki Kaisha | Information processing device, information processing system, and program |
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Application publication date: 20140212 |