CN105334858A - Floor sweeping robot and indoor map establishing method and device thereof - Google Patents
Floor sweeping robot and indoor map establishing method and device thereof Download PDFInfo
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- CN105334858A CN105334858A CN201510846038.5A CN201510846038A CN105334858A CN 105334858 A CN105334858 A CN 105334858A CN 201510846038 A CN201510846038 A CN 201510846038A CN 105334858 A CN105334858 A CN 105334858A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The invention discloses an indoor map establishing method for a floor sweeping robot. The indoor map establishing method comprises the following steps that in the working process of the floor sweeping robot, whether the positions of indoor objects change or not is judged; if the positions of the indoor objects change, position information of at least one positioning label in N positioning labels is acquired, wherein the N positioning labels are arranged on the different indoor walls, and N represents an integer which is larger than or equal to 3; if the position information of the at least one positioning label is acquired, an indoor map is updated according to the position information of the at least one positioning label. According to the method, the indoor map can be updated directly through the arranged positioning labels when the positions of the indoor objects change, and the problem that coordinate data need to be reestablished in the updating process of the indoor map is solved. The invention further discloses the floor sweeping robot and an indoor map establishing device for the floor sweeping robot.
Description
Technical field
The present invention relates to living electric apparatus technical field, particularly a kind of indoor map method for building up for sweeping robot, a kind of sweeping robot and a kind of indoor map apparatus for establishing for sweeping robot.
Background technology
At present, along with growth in the living standard, sweeping robot is because of simple to operate, easy to use and well received.
Usually, sweeping robot is that true origin sets up coordinate data with cradle, and utilizes the impact switch of self or infrared/ultrasonic sensor to set up grid coordinate map, and cleans indoor according to grid coordinate map.But, when the object space of indoor changes, the position of such as cradle changes, originally the grid coordinate map of foundation will produce very big error, in correlation technique, position according to current cradle re-establishes coordinate data, and re-establishes grid coordinate map according to coordinate data, reduces the work efficiency of sweeping robot.
Summary of the invention
The present invention is intended to solve one of technical matters in correlation technique at least to a certain extent.
For this reason, one object of the present invention is to propose a kind of indoor map method for building up for sweeping robot, can when the position of indoor object changes, by the positioning label arranged, indoor map is upgraded, avoid the problem needing to re-establish coordinate data in indoor map renewal process.
Second object of the present invention is to propose a kind of indoor map apparatus for establishing for sweeping robot.
3rd object of the present invention is to propose a kind of sweeping robot.
To achieve these goals, the indoor map method for building up for sweeping robot of first aspect present invention embodiment, comprises the following steps: in the described sweeping robot course of work, judges whether the position of indoor object changes; If the position of the object of described indoor changes, then obtain the positional information of at least one positioning label in N number of positioning label, wherein, described N number of positioning label is separately positioned on indoor different walls, N be more than or equal to 3 integer; And if get the positional information of at least one positioning label described, then according to the positional information of at least one positioning label described, indoor map is upgraded.
According to the indoor map method for building up for sweeping robot of the embodiment of the present invention, in the sweeping robot course of work, can judge whether the position of indoor object changes, if the position of the object of indoor changes, then obtain the positional information of at least one positioning label in N number of positioning label, if get the positional information of at least one positioning label, then according to the positional information of at least one positioning label, indoor map is upgraded.Thus, the method can in the sweeping robot course of work, when the position of the object of indoor changes, directly by the positional information of the positioning label arranged, indoor map is upgraded, avoid the problem needing to re-establish coordinate data in indoor map renewal process, improve the work efficiency of sweeping robot.
In addition, following additional technical characteristic can also be had according to the above-mentioned indoor map method for building up for sweeping robot of the present invention:
In one embodiment of the invention, described indoor map was set up before the described sweeping robot of first use, specifically comprise: the positional information obtaining the object of current described indoor, with the current location of cradle for true origin sets up coordinate data, and set up described indoor map according to described positional information and described coordinate data.
In one embodiment of the invention, in the described sweeping robot course of work, also comprise: if the deviate getting the described positional information of at least one positioning label and the current location information of described sweeping robot is greater than pre-set threshold value, be then the current location information of described sweeping robot by the updating location information of described positioning label, and described indoor map is upgraded.
In one embodiment of the invention, in the described sweeping robot course of work, also comprise: if the position of the object of described indoor changes, and do not get the positional information of at least one positioning label described, then control described sweeping robot and return described true origin; After described sweeping robot returns described true origin, again obtain the positional information of at least one elements of a fix in described N number of positioning label, and according to the positional information of at least one positioning label described, described indoor map is upgraded.
In one embodiment of the invention, in the described sweeping robot course of work, also comprise: if the position of the object of described indoor does not change, then described indoor map is not upgraded.
To achieve these goals, the indoor map apparatus for establishing for sweeping robot of second aspect present invention embodiment, comprising: N number of positioning label, and described N number of positioning label is separately positioned on indoor different walls, wherein, N be more than or equal to 3 integer; Judge module, described judge module is used in the described sweeping robot course of work, judge whether the position of indoor object changes; Acquisition module, described acquisition module is for obtaining the positional information of at least one positioning label in described N number of positioning label; Control module, position for the object judging described indoor at described judge module changes, and when described acquisition module gets the positional information of at least one positioning label described, the positional information according at least one positioning label described upgrades indoor map.
According to the indoor map apparatus for establishing for sweeping robot of the embodiment of the present invention, judge that the position of indoor object changes at judge module, and when acquisition module gets the positional information of at least one positioning label, the positional information according at least one positioning label upgrades indoor map.Thus, this device can in the sweeping robot course of work, when the position of the object of indoor changes, directly by the positional information of the positioning label arranged, indoor map is upgraded, avoid the problem needing to re-establish coordinate data in indoor map renewal process, improve the work efficiency of sweeping robot.
In addition, following additional technical characteristic can also be had according to the above-mentioned indoor map apparatus for establishing for sweeping robot of the present invention:
In one embodiment of the invention, the above-mentioned indoor map apparatus for establishing for sweeping robot, also comprise: position acquisition module, described position acquisition module is for obtaining the positional information of the object of described indoor, module set up by map, before the described sweeping robot of first use, described map sets up module with the current location of cradle for true origin sets up coordinate data, and sets up described indoor map according to described positional information and described coordinate data.
In one embodiment of the invention, when described acquisition module gets the positional information of at least one positioning label described, if described judge module judges that the deviate of the described positional information of at least one positioning label and the current location information of described sweeping robot is greater than pre-set threshold value, then the updating location information of described positioning label is the current location information of described sweeping robot by described control module, and upgrades described indoor map.
In one embodiment of the invention, in the described sweeping robot course of work, described control module, position for the object judging described indoor at described judge module changes, and described acquisition module is not when getting the positional information of at least one positioning label described, control described sweeping robot and return described true origin, and after described sweeping robot returns described true origin, control the positional information that described acquisition module obtains at least one elements of a fix in described N number of positioning label again, and according to the positional information of at least one positioning label described, described indoor map is upgraded.
In one embodiment of the invention, in the described sweeping robot course of work, if the position of object that described judge module judges in described room does not change, then described control module does not upgrade described indoor map.
In one embodiment of the invention, described position acquisition module is infrared sensor, ultrasonic sensor or impact switch.
To achieve these goals, the sweeping robot of third aspect present invention embodiment comprises the indoor map apparatus for establishing for sweeping robot of second aspect present invention embodiment.
The sweeping robot of the embodiment of the present invention, by the above-mentioned indoor map apparatus for establishing for sweeping robot, can when the position of the object of indoor changes, directly by the positional information of at least one positioning label in N number of positioning label, indoor map is upgraded, avoid the problem needing to re-establish coordinate data in indoor map renewal process, improve work efficiency.
The advantage of the aspect that the present invention adds will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Fig. 1 is according to an embodiment of the invention for the process flow diagram of the indoor map method for building up of sweeping robot;
Fig. 2 is according to an embodiment of the invention for the block diagram of the indoor map apparatus for establishing of sweeping robot.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
Below with reference to the accompanying drawings the indoor map method for building up for sweeping robot according to the embodiment of the present invention, device and sweeping robot are described.
Fig. 1 is according to an embodiment of the invention for the process flow diagram of the indoor map method for building up of sweeping robot.As shown in Figure 1, this indoor map method for building up being used for sweeping robot comprises the following steps:
S101, in the sweeping robot course of work, judges whether the position of indoor object changes.Wherein, by the impact switch of self or infrared/ultrasonic sensor etc., sweeping robot can judge whether the position of indoor object changes, and does not limit at this.
Particularly, in an embodiment of the present invention, indoor object can be the cradle of sweeping robot, bed, sofa and cabinet for TV etc.In the sweeping robot course of work, sweeping robot can initiatively be avoided indoor object according to the indoor map set up in advance and clean, but when sweeping robot touches indoor same object 2-3 time, the position of the object judging indoor changes by sweeping robot.
According to one embodiment of present invention, indoor map was set up before first use sweeping robot, specifically comprise: the positional information obtaining the object of current indoor, with the current location of cradle for true origin sets up coordinate data, and set up indoor map according to positional information and coordinate data.
Be understandable that, indoor map can be set up before first sweeping robot, also can set up first use in the process of sweeping robot, such as, can use in the process of sweeping robot first, adopt process record mode to set up indoor map.
Specifically, when first use sweeping robot time, sweeping robot by with the current location of cradle for true origin sets up coordinate system, as positive right-handed coordinate system, and set up grid coordinate data, such as, set data corresponding to each grid in coordinate system as-1.Sweeping robot starts to clean indoor, in sweeping robot cleaning process, judge whether front has barrier by self impact switch or infrared/ultrasonic sensor, if had, then the data of grid corresponding to barrier are set to 1 by sweeping robot, if no, then the data of this grid are set to 0.When sweeping robot completes once cleaning task and is back to cradle, indoor map is set up complete, and stores.
When sweeping robot performs cleaning task again, can initiatively avoid indoor object according to the indoor map set up to clean, simultaneously, sweeping robot judges whether the position of indoor object changes, wherein, the position of indoor object can be the position of original furniture, the position of cradle and the position etc. newly entered shared by furniture.
S102, if the position of the object of indoor changes, then obtains the positional information of at least one positioning label in N number of positioning label, and wherein, N number of positioning label is separately positioned on indoor different walls, N be more than or equal to 3 integer.
Preferably, N number of positioning label is separately positioned on different horizontal lines, and the height on N number of positioning label distance ground need meet the height that sweeping robot can identify.In an embodiment of the present invention, positioning label can be bar code, Quick Response Code and other can be sensed label.When sweeping robot sets up indoor map, the positional information of N number of positioning label is also recorded in indoor map.
S103, if the positional information getting at least one positioning label, then upgrades indoor map according to the positional information of at least one positioning label.
According to one embodiment of present invention, in the sweeping robot course of work, also comprise: if the deviate getting the positional information of at least one positioning label and the current location information of sweeping robot is greater than pre-set threshold value, be then the current location information of sweeping robot by the updating location information of positioning label, and indoor map is upgraded.Wherein, pre-set threshold value can be demarcated according to actual conditions, and pre-set threshold value can be 5CM.
Specifically, carry out in cleaning process at sweeping robot according to the indoor map set up, when sweeping robot finds one of them positioning label, the coordinate according to the indoor map set up judges whether the deviate of the positional information of above-mentioned positioning label and the current location information of sweeping robot is greater than pre-set threshold value.If so, be then the current location information of sweeping robot by the updating location information of positioning label, and indoor map is upgraded; If not, then cleaning is proceeded.
Furthermore, carry out in cleaning process at sweeping robot according to the indoor map set up, if sweeping robot judges that the position of indoor object changes, such as, when sweeping robot judges that there is a barrier in front, sweeping robot will initiatively find the positioning label be arranged on wall, when sweeping robot finds one of them positioning label, sweeping robot obtains the positional information of positioning label, and the positional information of sweeping robot is obtained according to the indoor map set up, then according to the deviate of the positional information of above-mentioned positioning label and the positional information calculation out position of above-mentioned sweeping robot, and whether judgment bias value is greater than pre-set threshold value (as 5CM), if, it is then the positional information of above-mentioned sweeping robot by the updating location information of above-mentioned positioning label, and arrange according to the position at the sweeping robot place data to grid corresponding to barrier, thus the renewal realized indoor map, when sweeping robot return cradle charge time, if the position of cradle changes, then first sweeping robot returns to the original position of cradle according to indoor map, and then find the current position of cradle, after sweeping robot searches out cradle, the position of sweeping robot overlaps with the position of cradle, now, with the current location of cradle for true origin, and according to the relative position of sweeping robot with the positioning label be arranged on wall, indoor map is upgraded, that is, the position at positioning label place is absolute reference point, position residing for sweeping robot is characteristic coordinates point, when sweeping robot overlaps with the position of cradle, the relative position of sweeping robot and positioning label is the relative position of cradle and positioning label, now sweeping robot only need the data corresponding to each grid according to relative position be modified, thus the renewal realized indoor map, avoid the problem needing to re-establish coordinate data in indoor map renewal process.
Furthermore, in one embodiment of the invention, in the sweeping robot course of work, if the position of the object of indoor changes, and do not get the positional information of at least one positioning label, then control sweeping robot and return true origin, and after sweeping robot returns true origin, again obtain the positional information of at least one elements of a fix in N number of positioning label, and according to the positional information of at least one positioning label, indoor map is upgraded.In another embodiment of the present invention, in the sweeping robot course of work, if the position of the object of indoor does not change, then indoor map is not upgraded.
Be understandable that, when the position of the object of indoor changes, and sweeping robot is not when getting the positional information of at least one positioning label, first sweeping robot returns true origin (cradle) according to indoor map, and then again obtain the positional information of positioning label, usual sweeping robot has edge cleaning function, therefore, sweeping robot successfully can obtain the positional information of positioning label, thus can upgrade indoor map according to the positional information of positioning label.
In an embodiment of the present invention, the position at positioning label place is absolute reference point, and the position residing for sweeping robot is characteristic coordinates point, when sweeping robot returns true origin (cradle), sweeping robot can select best route to return according to characteristic coordinates point and indoor map, when characteristic coordinates point and true origin overlap, sweeping robot successfully returns true origin.Which can make sweeping robot find cradle sooner, more accurately and return.
According to the indoor map method for building up for sweeping robot of the embodiment of the present invention, in the sweeping robot course of work, can judge whether the position of indoor object changes, if the position of the object of indoor changes, then obtain the positional information of at least one positioning label in N number of positioning label, if get the positional information of at least one positioning label, then according to the positional information of at least one positioning label, indoor map is upgraded.Thus, the method can in the sweeping robot course of work, when the position of the object of indoor changes, directly by the positional information of the positioning label arranged, indoor map is upgraded, avoid the problem needing to re-establish coordinate data in indoor map renewal process, improve the work efficiency of sweeping robot.
Fig. 2 is according to an embodiment of the invention for the block diagram of the indoor map apparatus for establishing of sweeping robot.As shown in Figure 2, this indoor map apparatus for establishing 10 being used for sweeping robot comprises: N number of positioning label 100, judge module 200, acquisition module 300 and control module 400.
Particularly, N number of positioning label 100 is separately positioned on indoor different walls, wherein, N be more than or equal to 3 integer.
In an embodiment of the present invention, N number of positioning label 100 is separately positioned on different horizontal lines, and N number of positioning label 100 need meet apart from the height on ground the height that sweeping robot can identify.Wherein, positioning label can be bar code, Quick Response Code and other can be sensed label.
Judge module 200, for judging in the sweeping robot course of work whether the position of indoor object changes.Wherein, judge module 200 can be impact switch or infrared/ultrasonic sensor etc., does not limit at this.
Particularly, in an embodiment of the present invention, indoor object can be the cradle of sweeping robot, bed, sofa and cabinet for TV etc.In the sweeping robot course of work, sweeping robot can initiatively be avoided indoor object according to the indoor map set up in advance and clean, but when judge module 200 touches indoor same object 2-3 time, the position of the object judging indoor changes by judge module 200.
Furthermore, in one embodiment of the invention, the above-mentioned indoor map apparatus for establishing for sweeping robot, also comprises: module set up by position acquisition module and map.
Wherein, position acquisition module is for obtaining the positional information of indoor object, map sets up module for before first use sweeping robot, with the current location of cradle for true origin sets up coordinate data, and sets up indoor map according to positional information and coordinate data.Wherein, position acquisition module can be infrared sensor, ultrasonic sensor or impact switch.
Be understandable that, indoor map can be set up before first sweeping robot, also can set up first use in the process of sweeping robot, such as, can use in the process of sweeping robot first, adopt process record mode to set up indoor map.
Specifically, when first use sweeping robot time, map sets up module with the current location of cradle for true origin sets up coordinate system, as positive right-handed coordinate system, and sets up grid coordinate data, such as, set data corresponding to each grid in coordinate system as-1.Sweeping robot starts to clean indoor, in sweeping robot cleaning process, the positional information of indoor object is obtained by position acquisition module, such as, can judge whether front has barrier by the impact switch of self or infrared/ultrasonic sensor, if had, then the data of grid corresponding to barrier are set to 1, if no, then the data of this grid are set to 0.When sweeping robot completes once cleaning task and is back to cradle, indoor map is set up complete, and stores.When sweeping robot sets up indoor map, the positional information of N number of positioning label is also recorded in indoor map.
When sweeping robot performs cleaning task again, can initiatively avoid indoor object according to the indoor map set up to clean, simultaneously, judge module 200 judges whether the position of indoor object changes, wherein, the position of indoor object can be the position of original furniture, the position of cradle and the position etc. newly entered shared by furniture.
Acquisition module 300, for obtaining the positional information of at least one positioning label in N number of positioning label.
Control module 400, for judging that the position of indoor object changes at judge module, and when acquisition module gets the positional information of at least one positioning label, the positional information according at least one positioning label upgrades indoor map.
According to one embodiment of present invention, when acquisition module 300 gets the positional information of at least one positioning label, if judge module 200 judges that the deviate of the positional information of at least one positioning label and the current location information of sweeping robot is greater than pre-set threshold value, then the updating location information of positioning label is the current location information of sweeping robot by control module 400, and upgrades indoor map.Wherein, pre-set threshold value can be demarcated according to actual conditions, and pre-set threshold value can be 5CM.
Specifically, carry out in cleaning process at sweeping robot according to the indoor map set up, when acquisition module 300 gets one of them positioning label, according to the coordinate of the indoor map set up, judge module 200 judges whether the deviate of the positional information of above-mentioned positioning label and the current location information of sweeping robot is greater than pre-set threshold value.If so, then the updating location information of positioning label is the current location information of sweeping robot by control module 400, and upgrades indoor map; If not, then cleaning is continued.
Furthermore, carry out in cleaning process at sweeping robot according to the indoor map set up, if judge module 200 judges that the position of indoor object changes, such as, when judge module 200 judges that there is a barrier in front, acquisition module 300 will initiatively find the positioning label be arranged on wall, when acquisition module 300 finds one of them positioning label, obtain the positional information of positioning label, control module 400 obtains the positional information of sweeping robot according to the indoor map set up, then according to the deviate of the positional information of above-mentioned positioning label and the positional information calculation out position of above-mentioned sweeping robot, and whether judgment bias value is greater than pre-set threshold value (as 5CM), if, it is then the positional information of above-mentioned sweeping robot by the updating location information of above-mentioned positioning label, and arrange according to the position at the sweeping robot place data to grid corresponding to barrier, thus the renewal realized indoor map, when sweeping robot return cradle charge time, if the position of cradle changes, then first control module 400 controls sweeping robot and returns to the original position of cradle according to indoor map, then acquisition module 300 finds the current position of cradle again, after acquisition module 300 searches out cradle, the position of sweeping robot overlaps with the position of cradle, now, control module 400 with the current location of cradle for true origin, and according to the relative position of sweeping robot with the positioning label be arranged on wall, indoor map is upgraded, that is, the position at positioning label place is absolute reference point, position residing for sweeping robot is characteristic coordinates point, when sweeping robot overlaps with the position of cradle, the relative position of sweeping robot and positioning label is the relative position of cradle and positioning label, now control module 400 only need the data corresponding to each grid according to relative position be modified, thus the renewal realized indoor map, avoid the problem needing to re-establish coordinate data in indoor map renewal process.
Furthermore, in one embodiment of the invention, in the sweeping robot course of work, control module 400, for judging that at judge module 200 position of indoor object changes, and acquisition module 300 is not when getting the positional information of at least one positioning label, control sweeping robot and return true origin, and after sweeping robot returns true origin, control the positional information that acquisition module 300 obtains at least one elements of a fix in N number of positioning label again, and according to the positional information of at least one positioning label, indoor map is upgraded.In another embodiment of the present invention, in the sweeping robot course of work, if the position of object that judge module 200 judges in room does not change, then control module 400 does not upgrade indoor map.
Be understandable that, when the position of the object of indoor changes, and acquisition module 300 is not when getting the positional information of at least one positioning label, first control module 400 controls sweeping robot and returns true origin (cradle) according to indoor map, then acquisition module 300 obtains the positional information of positioning label more again, usual sweeping robot has edge cleaning function, therefore, acquisition module 300 successfully can obtain the positional information of positioning label, thus can upgrade indoor map according to the positional information of positioning label.
In an embodiment of the present invention, the position at positioning label place is absolute reference point, and the position residing for sweeping robot is characteristic coordinates point, when sweeping robot returns true origin (cradle), sweeping robot can select best route to return according to characteristic coordinates point and indoor map, when characteristic coordinates point and true origin overlap, sweeping robot successfully returns true origin.Which can make sweeping robot find cradle sooner, more accurately and return.
According to the indoor map apparatus for establishing for sweeping robot of the embodiment of the present invention, judge that the position of indoor object changes at judge module, and when acquisition module gets the positional information of at least one positioning label, the positional information according at least one positioning label upgrades indoor map.Thus, this device can in the sweeping robot course of work, when the position of the object of indoor changes, directly by the positional information of the positioning label arranged, indoor map is upgraded, avoid the problem needing to re-establish coordinate data in indoor map renewal process, improve the work efficiency of sweeping robot.
The sweeping robot of the embodiment of the present invention comprises the indoor map apparatus for establishing for sweeping robot of the above-mentioned any embodiment of the present invention.
According to the sweeping robot of the embodiment of the present invention, by the above-mentioned indoor map apparatus for establishing for sweeping robot, can when the position of the object of indoor changes, directly by the positional information of at least one positioning label in N number of positioning label, indoor map is upgraded, avoid the problem needing to re-establish coordinate data in indoor map renewal process, improve work efficiency.
Claims (12)
1., for an indoor map method for building up for sweeping robot, it is characterized in that, comprise the following steps:
In the described sweeping robot course of work, judge whether the position of indoor object changes;
If the position of the object of described indoor changes, then obtain the positional information of at least one positioning label in N number of positioning label, wherein, described N number of positioning label is separately positioned on indoor different walls, N be more than or equal to 3 integer; And
If get the positional information of at least one positioning label described, then according to the positional information of at least one positioning label described, indoor map is upgraded.
2. as claimed in claim 1 for the indoor map method for building up of sweeping robot, it is characterized in that, before the described sweeping robot of first use, set up described indoor map, specifically comprise:
Obtain the positional information of the object of current described indoor;
With the current location of cradle for true origin sets up coordinate data; And
Described indoor map is set up according to described positional information and described coordinate data.
3., as claimed in claim 1 or 2 for the indoor map method for building up of sweeping robot, it is characterized in that, in the described sweeping robot course of work, also comprise:
If the deviate getting the described positional information of at least one positioning label and the current location information of described sweeping robot is greater than pre-set threshold value, be then the current location information of described sweeping robot by the updating location information of described positioning label, and described indoor map is upgraded.
4., as claimed in claim 1 or 2 for the indoor map method for building up of sweeping robot, it is characterized in that, in the described sweeping robot course of work, also comprise:
If the position of the object of described indoor changes, and do not get the positional information of at least one positioning label described, then control described sweeping robot and return described true origin;
After described sweeping robot returns described true origin, again obtain the positional information of at least one elements of a fix in described N number of positioning label, and according to the positional information of at least one positioning label described, described indoor map is upgraded.
5., as claimed in claim 1 or 2 for the indoor map method for building up of sweeping robot, it is characterized in that, in the described sweeping robot course of work, also comprise:
If the position of the object of described indoor does not change, then described indoor map is not upgraded.
6., for an indoor map apparatus for establishing for sweeping robot, it is characterized in that, comprising:
N number of positioning label, described N number of positioning label is separately positioned on indoor different walls, wherein, N be more than or equal to 3 integer;
Judge module, described judge module is used in the described sweeping robot course of work, judge whether the position of indoor object changes;
Acquisition module, described acquisition module is for obtaining the positional information of at least one positioning label in described N number of positioning label;
Control module, position for the object judging described indoor at described judge module changes, and when described acquisition module gets the positional information of at least one positioning label described, the positional information according at least one positioning label described upgrades indoor map.
7., as claimed in claim 6 for the indoor map apparatus for establishing of sweeping robot, it is characterized in that, also comprise:
Position acquisition module, described position acquisition module is for obtaining the positional information of the object of described indoor;
Module set up by map, and before the described sweeping robot of first use, described map sets up module with the current location of cradle for true origin sets up coordinate data, and sets up described indoor map according to described positional information and described coordinate data.
8. the indoor map apparatus for establishing for sweeping robot as claimed in claims 6 or 7, it is characterized in that, when described acquisition module gets the positional information of at least one positioning label described, if described judge module judges that the deviate of the described positional information of at least one positioning label and the current location information of described sweeping robot is greater than pre-set threshold value, then the updating location information of described positioning label is the current location information of described sweeping robot by described control module, and upgrades described indoor map.
9. the indoor map apparatus for establishing for sweeping robot as claimed in claims 6 or 7, it is characterized in that, in the described sweeping robot course of work, described control module, position for the object judging described indoor at described judge module changes, and described acquisition module is not when getting the positional information of at least one positioning label described, control described sweeping robot and return described true origin, and after described sweeping robot returns described true origin, control the positional information that described acquisition module obtains at least one elements of a fix in described N number of positioning label again, and according to the positional information of at least one positioning label described, described indoor map is upgraded.
10. the indoor map apparatus for establishing for sweeping robot as claimed in claims 6 or 7, is characterized in that, in the described sweeping robot course of work,
If the position of the object that described judge module judges in described room does not change, then described control module does not upgrade described indoor map.
11. as claimed in claim 7 for the indoor map apparatus for establishing of sweeping robot, and it is characterized in that, described position acquisition module is infrared sensor, ultrasonic sensor or impact switch.
12. 1 kinds of sweeping robots, is characterized in that, comprise the indoor map apparatus for establishing for sweeping robot according to any one of claim 6-11.
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| CN107305376A (en) * | 2016-04-19 | 2017-10-31 | 上海慧流云计算科技有限公司 | A kind of automatic drawing robot of indoor map and method for drafting |
| CN107305377A (en) * | 2016-04-19 | 2017-10-31 | 上海慧流云计算科技有限公司 | A kind of automatic drawing robot of indoor map and method for drafting |
| CN107788916A (en) * | 2017-11-08 | 2018-03-13 | 安嘉琦 | Smart home cleans all-in-one |
| CN107997690A (en) * | 2017-12-04 | 2018-05-08 | 深圳市沃特沃德股份有限公司 | Room area division methods and sweeping robot |
| CN109033136A (en) * | 2018-06-05 | 2018-12-18 | 北京智行者科技有限公司 | A kind of operation map updating method |
| CN109074085A (en) * | 2018-07-26 | 2018-12-21 | 深圳前海达闼云端智能科技有限公司 | A kind of autonomous positioning and map method for building up, device and robot |
| CN109085836A (en) * | 2018-08-29 | 2018-12-25 | 深圳市浦硕科技有限公司 | A kind of method that sweeping robot returns designated position minimal path |
| CN109276190A (en) * | 2018-10-23 | 2019-01-29 | 中国人民解放军陆军工程大学 | Sweeping robot monitoring method and its equipment based on UWB |
| CN111176301A (en) * | 2020-03-03 | 2020-05-19 | 江苏美的清洁电器股份有限公司 | Map construction method and sweeping method of sweeping robot |
| CN111390918A (en) * | 2020-05-09 | 2020-07-10 | 安徽朗巴智能科技有限公司 | Active control system of household intelligent robot |
| CN111736583A (en) * | 2019-03-25 | 2020-10-02 | 东元电机股份有限公司 | Two-stage navigation system |
| CN113693509A (en) * | 2021-09-10 | 2021-11-26 | 深圳乐生机器人智能科技有限公司 | Sweeping position control method of sweeping robot and sweeping robot |
| CN113806377A (en) * | 2020-06-12 | 2021-12-17 | 纳恩博（北京）科技有限公司 | Map updating method, apparatus and storage medium |
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| CN105739501A (en) * | 2016-04-01 | 2016-07-06 | 北京云迹科技有限公司 | Automatic charging method for intelligent robot |
| CN105739501B (en) * | 2016-04-01 | 2017-09-26 | 北京云迹科技有限公司 | A kind of method of intelligent robot automatic charging |
| CN107305376A (en) * | 2016-04-19 | 2017-10-31 | 上海慧流云计算科技有限公司 | A kind of automatic drawing robot of indoor map and method for drafting |
| CN107305377A (en) * | 2016-04-19 | 2017-10-31 | 上海慧流云计算科技有限公司 | A kind of automatic drawing robot of indoor map and method for drafting |
| CN105856229A (en) * | 2016-05-05 | 2016-08-17 | 上海慧流云计算科技有限公司 | Indoor positioning method, device and sweeping robot |
| CN106444764A (en) * | 2016-10-21 | 2017-02-22 | 苏州大成电子科技有限公司 | Method for establishing cruise coordinate system of sweeping robot and cruise method and learning method |
| CN106444764B (en) * | 2016-10-21 | 2019-11-05 | 苏州大成电子科技有限公司 | Establish the method and cruise method and learning method of sweeping robot cruise coordinate system |
| CN107788916A (en) * | 2017-11-08 | 2018-03-13 | 安嘉琦 | Smart home cleans all-in-one |
| CN107997690A (en) * | 2017-12-04 | 2018-05-08 | 深圳市沃特沃德股份有限公司 | Room area division methods and sweeping robot |
| CN107997690B (en) * | 2017-12-04 | 2020-02-07 | 深圳市无限动力发展有限公司 | Indoor area dividing method and sweeping robot |
| CN109033136A (en) * | 2018-06-05 | 2018-12-18 | 北京智行者科技有限公司 | A kind of operation map updating method |
| CN109033136B (en) * | 2018-06-05 | 2021-06-29 | 北京智行者科技有限公司 | Operation map updating method |
| CN109074085A (en) * | 2018-07-26 | 2018-12-21 | 深圳前海达闼云端智能科技有限公司 | A kind of autonomous positioning and map method for building up, device and robot |
| CN109074085B (en) * | 2018-07-26 | 2021-11-09 | 达闼机器人有限公司 | Autonomous positioning and map building method and device and robot |
| CN109085836A (en) * | 2018-08-29 | 2018-12-25 | 深圳市浦硕科技有限公司 | A kind of method that sweeping robot returns designated position minimal path |
| CN109276190A (en) * | 2018-10-23 | 2019-01-29 | 中国人民解放军陆军工程大学 | Sweeping robot monitoring method and its equipment based on UWB |
| CN111736583A (en) * | 2019-03-25 | 2020-10-02 | 东元电机股份有限公司 | Two-stage navigation system |
| CN111176301A (en) * | 2020-03-03 | 2020-05-19 | 江苏美的清洁电器股份有限公司 | Map construction method and sweeping method of sweeping robot |
| CN111390918A (en) * | 2020-05-09 | 2020-07-10 | 安徽朗巴智能科技有限公司 | Active control system of household intelligent robot |
| CN111390918B (en) * | 2020-05-09 | 2021-10-08 | 安徽朗巴智能科技有限公司 | Active control system of household intelligent robot |
| CN113806377A (en) * | 2020-06-12 | 2021-12-17 | 纳恩博（北京）科技有限公司 | Map updating method, apparatus and storage medium |
| CN113806377B (en) * | 2020-06-12 | 2023-08-18 | 未岚大陆(北京)科技有限公司 | Map updating method, device and storage medium |
| CN113693509A (en) * | 2021-09-10 | 2021-11-26 | 深圳乐生机器人智能科技有限公司 | Sweeping position control method of sweeping robot and sweeping robot |
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Application publication date: 20160217 |