CN109528095B - Calibration method of sweeping record chart, sweeping robot and mobile terminal - Google Patents
Calibration method of sweeping record chart, sweeping robot and mobile terminal Download PDFInfo
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- CN109528095B CN109528095B CN201811625986.6A CN201811625986A CN109528095B CN 109528095 B CN109528095 B CN 109528095B CN 201811625986 A CN201811625986 A CN 201811625986A CN 109528095 B CN109528095 B CN 109528095B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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Abstract
The invention discloses a calibration method of a sweeping record map, a sweeping robot and a mobile terminal. The basic sweeping recorded graph from the sweeping robot track recording device is calibrated by utilizing the calibration sweeping recorded graph from the sweeping robot vision device, so that map deviation caused by slipping or touching of the sweeping robot with an obstacle is avoided, and conditions are created for accurate control of the follow-up sweeping robot. Because the first sweeping recorded graph and the first calibration sweeping recorded graph are converted, the formed second sweeping recorded graph and the second calibration sweeping recorded graph are respectively smaller than the first sweeping recorded graph and the first calibration sweeping recorded graph, so that the complete second sweeping recorded graph and the second calibration sweeping recorded graph can be backed up on the WiFi communication module of the sweeping robot without greatly upgrading the storage space of the WiFi communication module.
Description
Technical Field
The invention relates to a calibration method of a sweeping record chart, a sweeping robot using the method and a corresponding mobile terminal.
Background
The sweeping robot in the prior art can not completely replace hands to complete sweeping of all places. Because some local sweeping robots cannot cover the local sweeping robots, consumers need to obtain information about the sweeping paths of the sweeping robots to know clearly where to manually sweep or re-sweep. Therefore, it becomes important to record and display the data of the cleaning path information to the consumers in a friendly way.
The wifi transmission module of the robot of sweeping floor among the prior art has a memory function, can be used to store some record drawings of sweeping floor, and the data of storage can be uploaded to the high in the clouds through this wifi transmission module, and then the user can follow the high in the clouds through APP and download the record drawings of sweeping floor and look over.
However, when the sweeping robot slips or hits an obstacle and stops, the depicted map may be deviated. Therefore, calibration of the sweep log is also required. In addition, the bandwidth and the memory capacity which can be borne by the cloud end and the robot end are limited, and the image data is generally large, which brings difficulty to the recording and friendly display of the floor sweeping record map.
Disclosure of Invention
The invention aims to provide a calibration method of a sweeping record chart, a sweeping robot using the method and a corresponding mobile terminal, so that a user can obtain a complete calibrated sweeping record chart on the premise of not exceeding the bandwidth and storage capacity limits borne by a cloud end and a robot end.
The calibration method of the sweeping record chart for solving the technical problems comprises a basic sweeping record chart acquisition process, a calibration sweeping record chart acquisition process and a calibration process; the basic sweeping record chart acquisition process comprises the following steps: s1, receiving a first sweeping ground record chart from the sweeping robot track recording device; s2, after receiving the first sweeping record chart, performing conversion processing to form a second sweeping record chart, and backing up and storing the second sweeping record chart; the size of the storage space occupied by the second sweeping record chart is smaller than that of the first sweeping record chart; the acquisition process of the calibration floor sweeping record chart comprises the following steps: t1, receiving a first calibration sweeping record chart from the sweeping robot vision device; the first calibration sweeping record map is formed by visually identifying the sweeping condition of a swept area by a visual device on the sweeping robot, and comprises the coordinate information of the starting point of the swept area and the sweeping condition information of the swept area; t2, converting the first calibration sweeping record chart to form a second calibration sweeping record chart, and backing up and storing the second calibration sweeping record chart; the size of the storage space occupied by the second calibration sweeping recording chart is smaller than that of the first calibration sweeping recording chart; the calibration process comprises the following steps: replacing the part of the second sweeping record graph, of which the coordinates are overlapped with the second calibration sweeping record graph, with the second calibration sweeping record graph to realize calibration of the second sweeping record graph and form a third calibration sweeping record graph; or uploading the second sweeping record chart and the second calibration sweeping record chart to the cloud end so as to be calibrated in a subsequent procedure to form a third calibration sweeping record chart; or according to a request of the terminal transferred from the cloud, transmitting the second sweeping record graph and the second calibration sweeping record graph to the user terminal so as to calibrate on the user terminal, and directly forming a third calibration sweeping record graph, wherein the third calibration sweeping record graph can be directly displayed to the user, or a fourth calibration sweeping record graph is formed by beautification and displayed to the user.
In some embodiments, the following features are also included: the first sweeping record chart and the first calibration sweeping record chart are completely transmitted to a communication module arranged on the sweeping robot; the communication module is used for communicating with the cloud; the sizes of the second sweeping recorded graph and the second calibration sweeping recorded graph ensure that the complete second sweeping recorded graph and the complete second calibration sweeping recorded graph can be stored on the communication module; or the first sweeping record chart and the first calibration sweeping record chart are completely transmitted to a sweeping record chart processing process arranged on a sweeping robot control mainboard (such as an ARM mainboard); the floor sweeping record graph processing process is used for processing the floor sweeping record graph and can be communicated with the cloud end through a communication device arranged on the robot; the sizes of the second sweeping recorded graph and the second calibration sweeping recorded graph ensure that the complete second sweeping recorded graph and the complete second calibration sweeping recorded graph can be stored in the memory of the control mainboard.
And storing the second sweeping record chart and the second calibration sweeping record chart at the cloud end, or storing the third calibration sweeping record chart at the cloud end.
The step S2 of forming the second sweeping record specifically includes: s21, extracting a straight line segment in the walking path of the sweeping robot; s22, obtaining the latest position coordinates of the robot, and judging whether the walking of the sweeping robot to the new position point is still along the same straight line before; s23, if yes, removing points outside the end point on the whole straight line segment from the record, and only keeping coordinates of two points of the end point and the starting point on the straight line segment; s24, continuously repeating the steps S22-S23, and judging each new position point of the sweeping robot, so that coordinates of only two points, namely an end point and a starting point, are kept on the straight line segment all the time; a simplified second sweep log of the sweeping robot is obtained.
Step T2 specifically includes: t21, extracting a complete outer contour of the first calibration sweeping record chart, and dividing the interior of the first calibration sweeping record chart into a plurality of square small grids; t22, determining the cleaning condition in each square cell, and representing the cleaning condition by digit to form a digit grid chart.
The small square grids in T21 are square grids with equal areas.
In step T22, the digits are binary digits, i.e. respectively "0" and "1" are used to respectively represent "swept" and "unswept", or vice versa.
In step T22, the digits are quadtrays or higher so that more digit values can be used to represent more checkered states, including at least "cleared" and "uncleaned"
The invention also provides a sweeping robot, which comprises a vision device and a communication module communicated with the cloud, and is characterized in that: the communication module is provided with a computer program and is used for realizing the calibration method of the sweeping record chart.
The invention also provides a control method of the sweeping robot, which comprises the following steps: a1, receiving second sweeping record graph information and second calibration sweeping record graph information from the cloud end or via the cloud end; replacing the part of the second sweeping record graph, of which the coordinates are overlapped with the second calibration sweeping record graph, with the second calibration sweeping record graph to realize calibration of the second sweeping record graph and form a third calibration sweeping record graph; or receiving a third calibration floor sweeping record map directly from the cloud or via the cloud; a2, converting the third calibration sweeping record chart to generate a new fourth calibration sweeping record chart suitable for being checked by a user, and displaying the fourth calibration sweeping record chart; and A3, receiving an operation instruction of the user on the fourth calibration sweeping record chart, and forming an operation instruction to control the sweeping robot.
In some embodiments, the following features are also included:
in step a1, the second calibration floor sweeping record map is a digital grid map; in step a2, the conversion process includes: and reading the digital information in each square cell into the cleaning condition information of the square cell, filling the corresponding square cell with a preset color or gray scale, and directly forming or beautifying to form a fourth calibration sweeping record picture with color or gray scale visible to a user.
In step a3, the operation instruction includes: a cleaning place is designated, a virtual wall is designated, a cleaning area is designated, and a cleaning prohibition area is designated.
When the cleaning area is designated and the cleaning prohibition area is designated, a touch-spread operation is adopted.
The invention also provides a mobile terminal comprising a computer program, wherein the program is used for executing the robot control method after running.
The beneficial effects of the invention are as follows: the basic sweeping recorded graph from the sweeping robot track recording device is calibrated by utilizing the calibration sweeping recorded graph from the sweeping robot vision device, so that map deviation caused by the fact that the sweeping robot slips or touches an obstacle can be corrected, and conditions are created for accurate control of the follow-up sweeping robot.
Because the first sweeping record chart and the first calibration sweeping record chart are converted, the formed second sweeping record chart and the second calibration sweeping record chart are respectively smaller than the first sweeping record chart and the first calibration sweeping record chart, and the storage space is reduced, so that the complete second sweeping record chart and the complete second calibration sweeping record chart can be backed up on a WiFi communication module of the sweeping robot or in a memory of a control mainboard (ARM mainboard) of the robot without greatly upgrading the storage space of the WiFi communication module or the memory space of the robot.
Drawings
FIG. 1A is a schematic overview of an embodiment of the present invention.
FIG. 1B is an interaction diagram of an embodiment of the invention.
Fig. 2 is a flowchart illustrating a second calibration sweeping record according to an embodiment of the present invention.
Fig. 3A and 3B are two exemplary diagrams of sweeping record maps generated at a mobile phone end according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
Non-limiting and non-exclusive embodiments will be described with reference to the following figures, wherein like reference numerals refer to like parts, unless otherwise specified.
Example one
As shown in fig. 1A, a general flow chart of an embodiment of the present invention illustrates a calibration method for a sweeping record map, where an execution main body of the method is a WiFi communication module disposed on a sweeping robot. In other embodiments, the execution body may be in other forms, such as a 5G communication module, a dedicated router, a wireless modem, a relay station, a server, a control motherboard of a robot (e.g., an ARM motherboard), and the like. The method comprises a basic sweeping record chart acquisition process, a calibration sweeping record chart acquisition process and a calibration process.
The basic sweeping record chart acquiring process comprises the following steps:
and S1, receiving the first sweeping ground record chart from the sweeping robot track recording device.
When the robot works, the track recording device on the sweeping robot can record the walking track of the sweeping robot in a coordinate bitmap mode to form a first sweeping record map, and the first sweeping record map is transmitted to the wifi communication module installed on the sweeping robot. The step can be realized by the prior art, for example, the step can be obtained by inertial navigation data or vision sensor data, and a point is usually recorded by about 7cm according to the size and the sampling precision requirement of the robot (the size is equivalent to the size of the body of the sweeping robot).
And S2, after receiving the first sweeping record chart, performing conversion processing to form a second sweeping record chart, and backing up and storing the second sweeping record chart.
Because the sweeping range of the sweeping robot is large, the number of pixels to be recorded is usually 255 × 255, the size of the single sweeping record map data is up to more than 65K, and after the wifi communication module on the sweeping robot deducts the space occupied by the application program, only a small storage space is usually left for storing the historical data. Therefore, in the embodiment, the information of the floor sweeping record map is processed in the step S2 to obtain the second floor sweeping record map, so that the size of the storage space occupied by the second floor sweeping record map is smaller than that of the first floor sweeping record map, and the size of the second floor sweeping record map ensures that the wifi communication module can store complete information of the second floor sweeping record map, thereby solving the problem of insufficient storage space. Because the recorded data is the complete second floor sweeping recorded graph data, an accurate floor sweeping track record is always stored on the wifi communication module.
Specifically, the method for converting the first sweeping record chart to obtain the second sweeping record chart in step S2 includes the following steps:
s21, extracting a straight line segment in the walking path of the sweeping robot: in the first scanning ground record map, the coordinates of the point where the sweeping robot is initially located and the coordinates of the first point where the sweeping robot initially walks are recorded; the two points are extracted to form a straight line segment, each point is extracted backwards one by one, all the straight line segments which the robot walks through can be obtained, and the straight line segment where the robot is located at present can be found out. Of course, all the straight line segments do not need to be extracted all the time, and only the straight line segment where the robot is located currently can be directly extracted.
S22, after the robot walks to the next position and the wifi communication module obtains the latest position coordinate of the robot, judge whether the robot of sweeping the floor still follows the same straight line before to the walking of new position point, promptly: and extracting the coordinates of the next adjacent position point (hereinafter referred to as a new position point) of the sweeping robot, judging whether the new position point and the straight line section, which is closest to the sweeping robot and is located before, are on the same straight line according to the coordinates, and judging whether the walking of the sweeping robot at the current step distance is still along the same straight line before.
The specific determination method may be, for example: taking the first point as the initial point of the line segment, taking the second point as the temporary end point of the line segment, and calculating a linear equation: y is the parameter a, b in a x + b; when the robot moves to a third point, whether the point is on the upper straight line is judged according to the linear equation: the coordinates of three points are substituted into the equation to see whether the coordinates meet the equation, if the coordinates meet the equation, the coordinates are directly on one line, otherwise, the coordinates are not on one direct line.
And S23, if so, removing the points outside the end point on the whole straight line segment from the record, so that only the coordinates of two points of the end point and the starting point are reserved on the straight line segment. Namely: if the third point is on the front straight line, replacing the second point with the third point to be used as a new line segment end point; if not, the second point is used as the first point of the new line segment, and the third point is used as the temporary second point, and the process goes to step S22.
S24, continuously repeating the steps S22-S23, and judging each new position point of the sweeping robot, so that coordinates of only two points, namely an end point and a starting point, are kept on the straight line segment all the time; a simplified second sweep log of the sweeping robot is obtained. It can be seen that this map is actually in the form of an XY coordinate map (only XY coordinates of the various turning points are listed in the map).
Obviously, the longer the time of the sweeping robot walking in a straight line is, the more data are deleted, and thus the sweeping record map is simplified.
During the working period of the sweeping robot, the first sweeping record chart and the second sweeping record chart are drawn continuously all the time, and a dynamic updating effect is formed.
(II) the process of acquiring the calibration sweeping record chart comprises the following steps:
t1, receiving a first calibration sweeping record chart from the sweeping robot vision device; the first calibration sweeping record map is formed by visually identifying the sweeping condition of the swept area by a visual device on the sweeping robot, and comprises the coordinate information of the starting point of the swept area and the sweeping condition information of the swept area.
The first calibration sweep log is positioned and mapped by the vision sweeping robot depending on the camera, i.e. vision based positioning and mapping (vision Vslam). The map may also be in the form of a coordinate bitmap.
As described above, the sweeping range of the sweeping robot is large, and the number of pixels to be recorded is usually 255 × 255, so that the size of the single sweeping record map data is up to 65K (referred to as Byte number), and the storage space for storing the first sweeping record map is already large, and thus, the storage space is tightly tightened if one first calibration sweeping record map is stored. For this reason, the present embodiment performs the following processing on the first calibration floor sweeping record chart:
and T2, converting the first calibration sweeping recorded graph to form a second calibration sweeping recorded graph, so that the size of the storage space occupied by the second calibration sweeping recorded graph is smaller than that of the first calibration sweeping recorded graph, and then performing backup storage. The specific method is shown in fig. 2, and comprises the following steps:
t21, extracting a complete outer contour of the first calibration sweeping record chart, and dividing the interior of the first calibration sweeping record chart into a plurality of squares in a distinguishing manner, wherein the squares are square and have equal areas (except for edge parts);
t22, determining the cleaning condition in each square, and representing the cleaning condition by digit to form a digit grid chart. The digit may take the form of a binary digit, i.e., a "not cleared" and a "cleared" by a "0" and a "1", respectively, or vice versa.
Thus, assuming the digital trellis diagram is still 255 x 255 pixels in size, each cell actually only occupies one bit of storage space instead of one Byte, since each cell only needs to store two states, 0 and 1. Thus, the total space occupied is only 65Kbit, not 65 KByte. The storage space is only 1/8.
In other embodiments, the digits may be quartiles or higher (e.g., 5 or 6) so that more digit values can be used to represent more checkered states, such that the checkered states may include not only "cleared" and "uncleared," but also, for example: "obstacle", "sweep to be rescanned", etc. more states, such as: "swept" at 00, "unswept" at 01, "obstacle" at 10, and "swept to be rescanned" at 11. But has the disadvantage that the occupied storage space becomes large.
Because the second sweeping recording map is derived from a sweeping robot track recording device, an XY coordinate map is adopted, and the resolution of the map drawn by the second sweeping recording map can only reach the width of the body of the sweeping robot, namely the size of each pixel cannot be smaller than the body (usually about 7 cm) of the sweeping robot. Compared with the second sweeping record map made by using the XY coordinate map, the second calibration sweeping record map obtained in this embodiment is calculated, and if the resolution of 255 × 255 is adopted, the line width of the path of the calibrated sweeping record map can be reduced by about one time, so that the map has finer pixels in a limited sweeping area (for example, less than 700 square meters), and the drawn map is more accurate. And the smaller the swept area, the more accurate. The effect can be achieved by less than 700 square meters, so that the floor sweeping record map after calibration can achieve the effect for ordinary households, and the floor sweeping record map is enough for ordinary consumers to use.
The first and calibration floor-sweeping record maps can be performed periodically or in response to a request from a terminal client, because the map is large, it is not necessarily performed in real time.
It should be noted that the storage space size of the second calibration floor sweeping record map is larger than that of the second floor sweeping record map, and the second floor sweeping record map is obtained by recording and converting the second floor sweeping record map from the track recording device of the floor sweeping robot, so that the second calibration floor sweeping record map can be continuously drawn in the floor sweeping process of the robot, and has the characteristic of timely dynamic updating, and the second calibration floor sweeping record map needs to be drawn by using a VSLAM, so that the transmission and processing cannot be realized in real time due to a large picture. Therefore, in the embodiment, the second calibration floor sweeping record map is used to calibrate the second floor sweeping record map, so as to obtain the combination of the advantages of the second calibration floor sweeping record map and the second floor sweeping record map, and obtain a floor sweeping record map which can be more accurate and can keep dynamic update.
As described above, the execution subject of the present embodiment is on the WIFI template of the robot. Under the condition, the WIFI module not only has a communication function, but also has a floor sweeping map processing function; the WIFI template is used for acquiring a first scanning map and a first calibration scanning map from an ARM main board of the robot through a serial port.
In other embodiments, the execution body may be in other forms, such as a 5G communication module, a dedicated router, a wireless modem, a relay station, a server, an ARM motherboard of a robot, and the like. The following is a brief supplementary description by taking an ARM main board with an execution main body as a robot as an example.
When the execution main body is on the ARM main board of the robot, the method is actually realized by a process running on the ARM main board, and the process is called a map scanning process. The process acquires a first scanning map and a first calibration scanning map from an ARM memory of the robot in a queue mode or a memory mapping mode, forms a second scanning map and a second calibration scanning map through the method of the invention, and reserves the second scanning map and the second calibration scanning map in the memory occupied by the process, namely reserves a storage backup of the second scanning map and the second calibration scanning map or reserves a storage backup of a third scanning record map in the memory occupied by the process.
(III) calibration procedure
The calibration process of this embodiment is put and is gone on (certainly, in other embodiments, do not exclude in WIFI communication module, the APP of sweeping the floor in the robot ARM carries out control) in user's cell-phone APP (the APP of sweeping the floor), consequently, the WiFi communication module only need according to the request of the mobile terminal (cell-phone APP) that the high in the clouds came, sweep the floor the second and all transmit the record drawing of sweeping the floor with the second calibration and sweep the user terminal, so as to carry out the calibration on user terminal, directly form or form the fourth calibration record drawing of sweeping the floor that can supply to the user demonstration after beautifying. And replacing the part of the second sweeping record graph, which is overlapped with the second calibration sweeping record graph, with the second calibration sweeping record graph to form a third calibration sweeping record graph. After the replacement, the end client will see on the screen that a part of the sweeping log suddenly becomes clear, while the rest continues to be drawn.
Because the file of the second sweeping record map is small and can be dynamically updated in time, the second sweeping record map can be continuously drawn before calibration, during calibration and after calibration, and the sweeping record map is continuously updated, which is why the terminal user sees that a part of the sweeping record map is suddenly clear while the rest part of the sweeping record map is continuously drawn.
Generally, when a user does not start a mobile phone APP, the user does not need to upload a floor sweeping record chart; when the user opens the mobile phone APP, a request is sent to the WiFi communication module of the sweeping robot, and a second sweeping recorded graph and a second calibration sweeping recorded graph are obtained. The scheme has the advantage that network flow and cloud storage space can be saved.
Fig. 1B shows an interaction diagram of the implementation subjects in the present embodiment.
In this embodiment, the calibrated third calibration floor sweeping record map is a combination of the digital grid map and the dot map, and the edge of the grid area is linear, not a smooth curve, so that the grid area is not very beautiful, and therefore the floor sweeping record map is further beautified after calibration to form the final fourth calibration floor sweeping record map.
The beautifying method specifically comprises the following steps:
before each square is drawn, the cleaning state of the adjacent square of the current square is judged, and the current square is drawn into a square or a circle (in other embodiments, the circle can be replaced by an oval or other non-sharp corner shape): if the cleaning states of the left square grid, the right square grid, the upper square grid and the lower square grid which are adjacent to the current square grid are all cleaned, the current square grid does not belong to the corner, and the current square grid is drawn into a square shape; if the cleaning state of the adjacent square grids is not all 'cleaned' in any row or column direction, namely, if any adjacent square grid is not cleaned, the current square grid belongs to the corner, and the current square grid is drawn to be a circle. By the method, the corners can be fitted into a smooth curve in the finally formed fourth calibration sweeping recorded graph, so that a more attractive graph is formed.
For example: selecting four adjacent squares of the current square, up, down, left and right, and judging the cleaning state (0 and 1 respectively indicate 'not cleaning' and 'cleaning'); it has a total of 16 cases, 7 of which describe the current square as a square, otherwise it is a circle. The method comprises the following specific steps:
the left and right adjacent squares and the current square are in a straight line direction (self-defined as a line), under four conditions of serial numbers (4), (8), (12) and (16) in the following table I, the cleaning states of the left and right adjacent squares are all 'cleaned', the current square does not belong to a corner, and the current square is drawn into a square; similarly, the two adjacent squares and the current square are in a straight line direction (defined as a column), such as the serial numbers (13), (14), (15) and (16) in the table one, the cleaning states of the two adjacent squares in the two directions are all 'cleaned', and the current square does not belong to a corner, so the current square is drawn into a square. As shown in the other numbers in the table i below, in any straight line direction (row or column), the cleaning states of adjacent squares are not all "cleaned", which means that the current square belongs to a corner, and thus the current square is depicted as a circle.
Form-table for depicting current square
Figures 3A and 3B are schematic diagrams of an uncalibrated and beautified sweep record, and a calibrated and beautified sweep record, respectively, according to this embodiment. As shown in the dashed-line diagram of fig. 3A, the path is severely deflected before being calibrated; after calibration, its path is accurate and can visually identify the obstacle. In addition, the accuracy and the appearance of fig. 3B are greatly improved as compared with those of the original fig. 3A.
Example two
In this embodiment, the part of the second sweeping record map where the coordinate coincides with the second calibration sweeping record map is directly replaced with the second calibration sweeping record map on the WiFi communication module to obtain a third calibration sweeping record map, which is stored on the WiFi communication module. However, since the coordinates in the second sweep log are different from the standard of the second calibration sweep log, the third calibration sweep log is actually formed by splicing two sweep logs, wherein one part exists in the form of a digit map, and the other part exists in the form of an XY coordinate map.
EXAMPLE III
In this embodiment, the second sweeping record map and the second calibration sweeping record map are both uploaded to the cloud, so as to be calibrated in the subsequent process, thereby forming a third calibration sweeping record map. Like this, when the user opened cell-phone APP, the high in the clouds can directly send the second record picture of sweeping the floor and the record picture of sweeping the floor of second calibration to the user, and meanwhile, also sends the request to the wiFi communication module of robot of sweeping the floor, obtains the second record picture of sweeping the floor and the record picture of sweeping the floor of second calibration of updating. The advantage of this scheme is that when sweeping the communication disconnection of robot's wiFi communication module and high in the clouds, there is the user still can know the robot and swept where before.
Example four
The method in the embodiment is suitable for visual robot map transmission and display. However, since the calibrated sweep log is very accurate in recording the sweeping condition, its use is not limited to demonstration. The present embodiment proposes several applications based on calibrated sweep log.
1. Which is to be swept is indicated: the user points on the calibrated sweeping record chart displayed on the screen of the mobile phone, and the purpose of enabling the sweeping robot to go to a specified place for sweeping can be achieved.
2. Virtual walls: the user can appoint a virtual wall in the sweeping area in a line drawing mode, and the sweeping robot is instructed not to go across the wall to sweep.
3. And (3) specifying a cleaning area: this point is similar to 1 above, except that the designated location is changed to a designated area.
4. And functions of designating forbidden zones and the like: this point is similar to 3 above, except that the designated area is changed to a designated prohibited area, i.e., an area where the robot is prohibited from traveling to the cleaning.
5. The spreading function is as follows: in the above 3 and 4, when the cleaning area is designated and the cleaning prohibition area is designated, a touch extension type operation is adopted, that is, the finger is pointed at a place without moving, and the designated area automatically extends from the place where the finger is pointed to the periphery until a wall or a virtual wall is met or the finger is released; if the robot meets a narrow passage, the robot judges that if the width of the passage is larger than the body of the sweeping robot, the robot continues to wander along the passage, and if the width of the passage is smaller than the body, the robot stops wandering to the passage. The mode can lead the user to quickly specify the cleaning area, and is convenient and interesting.
Those skilled in the art will recognize that numerous variations are possible to the above description, such as the mobile terminal may also be a PC terminal, etc.; the examples are merely intended to describe one or more particular implementations.
While there has been described and illustrated what are considered to be example embodiments of the present invention, it will be understood by those skilled in the art that various changes and substitutions may be made therein without departing from the spirit of the invention. In addition, many modifications may be made to adapt a particular situation to the teachings of the present invention without departing from the central concept described herein. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments and equivalents falling within the scope of the invention.
Claims (16)
1. A calibration method of a sweeping record chart is characterized by comprising a basic sweeping record chart acquisition process, a calibration sweeping record chart acquisition process and a calibration process;
the basic sweeping record chart acquisition process comprises the following steps:
s1, receiving a first sweeping ground record chart from the sweeping robot track recording device;
s2, after receiving the first sweeping record chart, performing conversion processing to form a second sweeping record chart, and backing up and storing the second sweeping record chart; the size of the storage space occupied by the second sweeping record chart is smaller than that of the first sweeping record chart;
the acquisition process of the calibration floor sweeping record chart comprises the following steps:
t1, receiving a first calibration sweeping record chart from the sweeping robot vision device; the first calibration sweeping record map is formed by visually identifying the sweeping condition of a swept area by a visual device on the sweeping robot, and comprises the coordinate information of the starting point of the swept area and the sweeping condition information of the swept area;
t2, converting the first calibration sweeping record chart to form a second calibration sweeping record chart, and backing up and storing the second calibration sweeping record chart; the size of the storage space occupied by the second calibration sweeping recording chart is smaller than that of the first calibration sweeping recording chart; the calibration process comprises the following steps:
replacing the part of the second sweeping record graph, of which the coordinates are overlapped with the second calibration sweeping record graph, with the second calibration sweeping record graph to realize calibration of the second sweeping record graph and form a third calibration sweeping record graph; or
Uploading the second sweeping record chart and the second calibration sweeping record chart to the cloud end so as to be calibrated in a subsequent procedure to form a third calibration sweeping record chart; or
According to the request of the terminal transferred from the cloud, the second sweeping record graph and the second calibration sweeping record graph are both transmitted to the user terminal so as to be calibrated on the user terminal, and a third calibration sweeping record graph is directly formed, and the third calibration sweeping record graph can be directly displayed to the user or a fourth calibration sweeping record graph is formed through beautification and displayed to the user;
the data of the second sweeping record map is the second sweeping record map data with complete record, and is always stored as an accurate sweeping record track.
2. The method for calibrating a floor sweeping record map according to claim 1, wherein the method comprises the following steps: the first sweeping record chart and the first calibration sweeping record chart are completely transmitted to a communication module arranged on the sweeping robot; the communication module is used for communicating with the cloud; the sizes of the second sweeping recorded graph and the second calibration sweeping recorded graph ensure that the complete second sweeping recorded graph and the complete second calibration sweeping recorded graph can be stored on the communication module;
alternatively, the first and second electrodes may be,
the first sweeping record chart and the first calibration sweeping record chart are completely transmitted to a sweeping record chart processing process arranged on a sweeping robot control main board; the floor sweeping record graph processing process is used for processing the floor sweeping record graph and can be communicated with the cloud end through a communication device arranged on the robot; the sizes of the second sweeping recorded graph and the second calibration sweeping recorded graph ensure that the complete second sweeping recorded graph and the complete second calibration sweeping recorded graph can be stored in the memory of the control mainboard.
3. The method for calibrating a floor sweeping record map according to claim 2, wherein the method comprises the following steps: and storing the second sweeping record chart and the second calibration sweeping record chart at the cloud end, or storing the third calibration sweeping record chart at the cloud end.
4. The method for calibrating floor sweeping record maps according to claim 1, wherein the step S2 of forming the second floor sweeping record map specifically comprises:
s21, extracting a straight line segment in the walking path of the sweeping robot;
s22, obtaining the latest position coordinates of the robot, and judging whether the walking of the sweeping robot to the new position point is still along the same straight line before;
s23, if yes, removing points outside the end point on the whole straight line segment from the record, and only keeping coordinates of two points of the end point and the starting point on the straight line segment;
s24, continuously repeating the steps S22-S23, and judging each new position point of the sweeping robot, so that coordinates of only two points, namely an end point and a starting point, are kept on the straight line segment all the time; a simplified second sweep log of the sweeping robot is obtained.
5. The method for calibrating the floor sweeping record map according to claim 1, wherein the step T2 specifically comprises:
t21, extracting a complete outer contour of the first calibration sweeping record chart, and dividing the interior of the first calibration sweeping record chart into a plurality of square small grids;
t22, determining the cleaning condition in each square cell, and representing the cleaning condition by digit to form a digit grid chart.
6. The method for calibrating floor sweeping record chart according to claim 5, wherein the square grid in step T21 is square grid with equal area.
7. The method for calibrating a floor sweeping record map according to claim 6, wherein the method comprises the following steps: in step T22, the digits are binary digits, i.e. respectively "0" and "1" are used to respectively represent "swept" and "unswept", or vice versa.
8. The method for calibrating a floor sweeping record map according to claim 6, wherein the method comprises the following steps: in step T22, the digits are quadtrays or higher so that more digit values can be used to represent more checkered states, including at least "cleared" and "uncleaned".
9. The method for calibrating a floor sweeping record map according to claim 5, wherein the method comprises the following steps: beautifying the third calibration sweeping record chart to form a fourth calibration sweeping record chart: drawing the current square into a square or circle or other non-sharp shape to fit the corners into a smooth curve according to the cleaning status of the adjacent squares of the current square.
10. The method for calibrating a floor sweeping record map of claim 9, wherein: if the cleaning states of the left square grid, the right square grid, the upper square grid and the lower square grid which are adjacent to the current square grid are all cleaned on the row or the column where the current square grid is located, the current square grid does not belong to the corner, and the current square grid is drawn into a square shape; if the cleaning states of the adjacent left and right squares are not all 'cleaned' and the cleaning states of the adjacent upper and lower squares are not all 'cleaned' on the row or column where the current square is located, the current square is represented as a round shape or other shapes without sharp corners, which means that the current square belongs to a corner.
11. The utility model provides a robot of sweeping floor, includes vision device and with the communication module of high in the clouds communication, its characterized in that: the communication module is provided with a computer program for implementing the method according to any one of claims 1 to 10.
12. A control method of a sweeping robot is characterized by comprising the following steps:
a1, receiving second sweeping record graph information and second calibration sweeping record graph information from the cloud end or via the cloud end; replacing the part of the second sweeping record graph, of which the coordinates are overlapped with the second calibration sweeping record graph, with the second calibration sweeping record graph to realize calibration of the second sweeping record graph and form a third calibration sweeping record graph;
a2, converting the third calibration sweeping record chart to generate a new fourth calibration sweeping record chart suitable for being checked by a user, and displaying the fourth calibration sweeping record chart;
and A3, receiving an operation instruction of the user on the fourth calibration sweeping record chart, and forming an operation instruction to control the sweeping robot.
13. The method for controlling a sweeping robot according to claim 12, wherein in step a1, the second calibration sweeping record graph is a digital grid graph; in step a2, the conversion process includes: and reading the digital information in each square cell into the cleaning condition information of the square cell, filling the corresponding square cell with preset color or gray scale, and directly forming a third calibration sweeping record picture with color or gray scale visible to a user or a fourth calibration sweeping record picture formed by beautification.
14. The sweeper robot control method of claim 13, wherein in step a3, the operation instructions include: a cleaning place is designated, a virtual wall is designated, a cleaning area is designated, and a cleaning prohibition area is designated.
15. The sweeper robot control method of claim 14, wherein touch-spread operation is used when designating the sweeping area and designating the no-sweeping area.
16. A mobile terminal, characterized by: comprising a computer program for performing, when running, the method according to any one of claims 12-15.
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| CN201811625986.6A CN109528095B (en) | 2018-12-28 | 2018-12-28 | Calibration method of sweeping record chart, sweeping robot and mobile terminal |
| PCT/CN2019/128720 WO2020135593A1 (en) | 2018-12-28 | 2019-12-26 | Calibration method for floor sweeping recording chart, floor sweeping robot and mobile terminal |
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