CN105813526B - 机器人清扫装置以及用于地标识别的方法 - Google Patents

机器人清扫装置以及用于地标识别的方法 Download PDF

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CN105813526B
CN105813526B CN201380081535.XA CN201380081535A CN105813526B CN 105813526 B CN105813526 B CN 105813526B CN 201380081535 A CN201380081535 A CN 201380081535A CN 105813526 B CN105813526 B CN 105813526B
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cleaning device
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CN105813526A (zh
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M·林德
安德斯·黑格马克
P·福斯贝里
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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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0003—Home robots, i.e. small robots for domestic use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Abstract

一种机器人清扫装置，包括一个主体(4)、被配置成用于移动该机器人清扫装置穿过感兴趣的表面(26，26')的一个推进系统(8，8')、以及被配置成用于检测障碍物的一个障碍物检测装置。该机器人清扫装置还包括一个处理单元(20)，该处理单元被配置成用于根据障碍物检测装置输出数据确定该机器人清扫装置相对于检测到的障碍物的位置，并进一步用于控制该推进系统(8，8')移动该机器人清扫装置穿过感兴趣的表面(26，26')，其中，该处理单元(20)被配置成用于根据该障碍物检测装置输出数据标识地标及其位置，从而从该地标推导至少一个特征以便创建和存储产生的地标签名。该处理单元(20)还被配置成用于将产生的该地标签名与预先确定的多个地标签名进行比较，并用于确定产生的该地标签名与预先确定的这些地标签名之一是否匹配(30)，并且该处理单元(20)进一步被配置成基于所述确定来运行该机器人清扫装置。

Description

机器人清扫装置以及用于地标识别的方法
技术领域
本发明涉及一种机器人真空吸尘器，该机器人真空吸尘器被配置成用于在有待清扫的表面内通过识别和获得地标及其特征来进行导航，并且本发明涉及地标识别的方法。
背景
机器人真空吸尘器在本领域是已知的。通常，机器人真空吸尘器装备有呈电机形式、用于使吸尘器在有待清扫的表面上移动的驱动安排。机器人真空吸尘器进一步装备有呈用于引起自主行为的一个或多个微处理器和导航装置的形式的智能，从而使得机器人真空吸尘器能够自由地来回移动并且清扫呈例如房间形式的空间。
在许多技术领域中，希望使用具有自主行为的机器人，使得它们可以在空间周围自由地移动而不与障碍物碰撞。
举例而言，具有或多或少地自主地对其中具有家具例如桌椅以及其他障碍物例如墙和楼梯的房间进行真空吸尘的能力的机器人真空吸尘器在本领域中是存在的。传统地，这些机器人真空吸尘器通过使用例如超声波或光波或激光束在房间内导航。另外，这些机器人真空吸尘器典型地必须补充带有额外的传感器，例如楼梯传感器、墙壁追踪传感器和各种应答器以准确运行。这种传感器是昂贵的并且影响机器人的可靠性。
大量的现有技术机器人真空吸尘器使用了一种被称为即时定位与地图构建(SLAM)的技术。SLAM涉及的问题是通过机器人建立未知环境的地图同时使用该地图确定该机器人在此环境中的位置。这通常是使用水平扫描激光器进行距离测量、结合测距法完成的，这提供了通过机器人的轮子的移动所测量的机器人的近似位置。
US 2009/0306822 A1披露了一种沿着水平面扫描其环境的机器人，由此创建其环境的二维(2D)签名(signature)以及位于该环境中的地标。
US 2002/0091466披露了一种移动式机器人，该移动式机器人具有指向房间天花板以用于识别该天花板上的基线标志的第一相机以及用于朝向障碍物发出线性光束的线激光器、用于识别来自该障碍物的反射线性光束的第二相机。这个线激光器发出直线形式的在该移动式机器人的前方水平地延伸的光束。这还创建该机器人的环境的2D签名。
该环境的2D地图或签名可能导致多种问题，因为机器人或机器人真空吸尘器也许不能从该2D签名推断出其位置并因此它可能迷路或迷失方向。
在天花板上使用基线标志以及在天花板上使用标记一般会产生某些缺点。首先，机器人将需要两个相机，至少一个相机朝向天花板向上“看”，另一相机在移动方向上看、并且由此从水平线激光器在激光束的方向上看，这是昂贵的并且使机器人的构建复杂化。进一步地，使用者必须使用椅子或梯子在天花板上定位至少一个基线标志。
另外，已知的机器人真空吸尘器因此需要用户大量的初始努力，直到它们流畅地运行并自主地清扫表面或区域。
概述
本发明的目的是提供一种容易构建的机器人清扫装置，其导航和定位准确，并从初始清扫操作开始自主地运行。
本发明的另一目的是提供具有经济性且容易导航的机器人清扫装置。
本发明的另一目的是提供一种运行机器人清扫装置的方法，该方法通过机器人清扫装置提高了清扫操作的效率。
通过如在独立权利要求中所述的机器人清扫装置以及机器人清扫装置的运行方法解决了上述目的。
在此披露了机器人清扫装置的一种运行方法，该运行方法包括以下步骤：
-用障碍物检测装置记录该机器人清扫装置附近的障碍物检测装置输出数据；
-由处理单元根据图像标识地标及其位置并根据该地标推导信息从而产生地标签名；
-存储所产生的该地标签名；
-将所产生的该地标签名与预先确定的多个地标签名进行比较；
-如果所产生的地标签名不与预先确定的这些地标签名之一相匹配，则确定所产生的地标签名是新的地标签名；或者
-如果所产生的地标位置签名与预先确定的这些地标位置签名之一相匹配，则确定所产生的地标位置签名是已知的；以及
-基于所述确定来运行该机器人清扫装置。
该方法允许机器人清扫装置确定它自己在新的或已知环境中的位置并以快速的方式学习其周围环境。
障碍物检测装置可以实现为3D传感器系统的形式，该传感器系统包括允许记录图像的相机装置。这些图像可以形成障碍物检测装置输出数据。
机器人清扫装置可以是机器人真空吸尘器或机器人拖把。
该地标可以是建筑物中的固定目标或障碍物，如柜台、楼梯、门、厨灶等，或诸如一件家具的可移动的目标或障碍物。可以从这个地标推导出地标签名。该地标签名可以基于表面的位置、形状、取向或其他特征的任何组合，或者针对平坦表面或者具有另一形状的表面。
如果识别了地标签名，地标的位置可以用于校正机器人清扫装置的位置估计和/或机器人清扫装置的地图表示，消除了已经积累的任何位置不确定性，因为地标是最后被观察和识别的。
该3D传感器系统可以是能够确定被观察点相对于机器人清扫装置的三维位置的传感器系统。
该3D传感器系统可以例如实现为雷达、红外传感器、相机与垂直激光器组合、3D相机装置等。
预先确定和产生的这些地标签名可以包括对应的地标的三维(3D)特征。
在实施例中，该方法可以包括以下步骤：通过在感兴趣的表面上导航机器人清扫装置来运行它。
该方法可以进一步包括以下步骤：相对于该机器人清扫装置的当前位置，将所产生的该地标签名进行定位和存储。
这使得能够建立地图、有待清扫的区域的布局或地面布置图。信息和位置数据被逐件收集并放在一起。因此该机器人清扫装置可以执行即时定位与地图构建。
所产生的地标签名可以是数据库中预先确定的，该数据库与处理单元连接。
可以从地标及其图像推导信息，这些信息分别与该地标的3D表面形状有关。
推导的信息可以并入地标签名。
进一步地，可以从地标及其图像推导信息，所述信息分别与地标的表面的中点的位置有关。
所推导的这条信息还可以并入地标签名并形成该地标签名的至少一部分。
在另一实施例中，可以从地标及其图像推导信息，所述信息分别与地标的表面的表面法线的方向和/或角度有关。
所推导的这条信息还可以优选地并入地标签名。
所推导的信息还可以包括与地标的尺寸或延伸部分有关的信息。
可以由处理单元通过障碍物检测装置所拍摄的图像导出该信息。
在此还披露了一种机器人清扫装置，该机器人清扫装置包括主体、被配置成用于移动该机器人清扫装置穿过感兴趣的表面的推进系统。该机器人清扫装置可以进一步包括障碍物检测装置和处理单元，该障碍物检测装置被配置成用于检测障碍物，该处理单元被配置成用于根据障碍物检测装置输出数据确定该机器人清扫装置相对于检测到的障碍物的位置、并且还用于控制该推进系统移动该机器人清扫装置穿过感兴趣的表面。该处理单元被配置成用于根据该障碍物检测装置输出数据标识地标及其位置，从而从该地标导出至少一个特征以便创建和存储产生的地标签名，该处理单元进一步被配置成用于将产生的该地标签名与预先确定的多个地标签名进行比较，并用于确定产生的该地标签名与预先确定的这些地标签名之一是否匹配，并且该处理单元进一步被配置成基于所述确定来运行该机器人清扫装置。
这种机器人清扫装置可以容易地在新的或已知的环境中导航。学习过程短且高效。另外，该机器人清扫装置能够区别可移动的障碍物和固定障碍物。基本上，机器人清扫装置在寻找并标识固定障碍物，如墙壁、门、楼梯、扶手等，以便导航。
可移动的障碍物更有可能混淆机器人清扫装置的定位，因为它们并不一定总在同一位置，然而，固定的障碍物产生“已知”或积极的输入并帮助机器人清扫装置导航。
3D传感器系统可以包括被配置成用于记录机器人清扫装置附近的图像的相机装置、以及被配置成用于照亮该机器人清扫装置的所述附近的第一垂直线激光器和第二垂直线激光器。处理单元可以进一步被配置成用于从所记录的图像推导位置数据。垂直线激光器提高所拍摄的图像的质量。
可能的是，机器人清扫装置包括障碍物检测装置的两个横向安排的垂直线激光器。
要注意的是，本发明涉及在权利要求书中所列举的特征的所有可能的组合。当研究所附权利要求书和以下说明时，本发明的另外的特征和优点将变得明显。本领域技术人员认识到，本发明的不同特征可以结合以创造下文所描述的那些以外的实施例。
在此所披露的任何方法的步骤都没有必要按照所披露的确切顺序进行，除非清楚地表述。
附图简要说明
现在将以举例方式通过参考附图来描述本发明，在附图中：
图1根据本发明示意性地展示了机器人清扫装置的自上而向下的视图；
图2根据本发明示意性地展示了机器人清扫装置的正视图；
图3展示了机器人清扫装置扫描地标；
图4展示了机器人清扫装置扫描和记录地标，在该特定情况下，一件家具靠着墙壁安置；并且
图5展示了根据本发明的方法的流程图。
详细说明
现在将参照这些附图在下文中更为全面地描述本发明，在附图中示出了本发明的某些实施例。然而，本发明可以采用许多不同形式来实施，并不应被解释为局限于在此提出的这些实施例；而是，这些实施例是通过举例方式提供的，这样使得本披露将是全面和完整的，并将向本领域技术人员完整地传达本发明的范围。相同的数字指代说明书中相同的元件。
现在参照图1和图2，根据本发明示出了机器人清扫装置2的自上而下的视图和正视图，该机器人清扫装置2可以包括主体4、清扫部分10和推进系统8、8'，该推进系统包括至少一个驱动轮6(在所示的示例中两个驱动轮6、6')，两个驱动器，它们中的每一个与这些驱动轮6、6'之一连接。
替代这些驱动轮6、6'，推进系统8、8'可以通过连接至某种形式的驱动器上的履带牵引器的形式来实施，如图中所展示的轮子或气垫船系统。
机器人清扫装置2可以进一步包括障碍物检测装置，该障碍物检测装置被实施为具有至少一个线激光器16(在所展示的实施例中两个线激光器16、18)的3D传感器系统12。这些线激光器16、18可通过垂直线激光器16、18的形式来实施，这些垂直线激光器被配置成用于照亮3D传感器系统12的观察角度。处理单元20可以与3D传感器系统12连接或整体地安排在其中并被配置成用于控制推进系统8、8'。
3D传感器系统12可以进一步包括相机装置14。
处理单元20可以实现为一个或多个微处理器的形式，并且它被配置成用于执行被下载到与处理单元14相关联的合适的存储介质22(如随机存取存储器(RAM)、闪存存储器或硬盘驱动器)中的计算机程序。处理单元20被设置成在该包含计算机可执行指令的适当计算机程序被下载至存储介质22并且被处理单元20执行时实施根据本发明多个实施例的方法。存储介质22还可以是包含该计算机程序的一种计算机程序产品。可替代地，该计算机程序可以通过合适的计算机程序产品例如数字化通用磁盘(DVD)、光盘(CD)或者记忆棒而传递至存储介质22。作为另外一个替代方案，该计算机程序可以通过网络下载至存储介质22。该处理单元20可以替代地以数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)、复杂可编程逻辑器件(CPLD)等的形式来实施。
处理单元20可以被配置成用于控制驱动控制器24，该驱动控制器被优选地连接至处理单元20，如图2所展示的。驱动控制器24可以进一步被配置成用于控制驱动器8、8'，以便移动机器人清扫装置穿过感兴趣的表面26、26'。感兴趣的表面26、26'可以是要清扫的表面。
关于图2，为了说明目的，3D传感器系统12是与机器人清扫装置2的主体4分开的。然而，在一种实际实现方式中，3D传感器系统12可能与机器人清扫装置2的主体4整合，以尽量减小机器人清扫装置2的高度，由此使得其在障碍物(例如沙发)的下方穿过。
驱动轮6、6'可以被配置成被经驱动器8、8’(例如经驱动控制器24)彼此独立地移动。每个驱动轮6、6'可以包括驱动器8、8'。每个驱动器8、8'还可包括用于相应的主动轮6、6'的悬架和齿轮箱。
3D传感器系统12可以通过红外(IR)传感器和/或声呐传感器、微波雷达、记录其周围环境的相机系统、3D相机系统、激光扫描器等的形式来实施，以用于检测障碍物并将关于所检测到的任何障碍物的信息传达给处理单元20。处理单元20与驱动器通信以根据3D传感器系统12所提供的信息来控制轮8、8'的移动，这样使得机器人清扫装置10可以如期望的那样移动穿过感兴趣的表面。
3D传感器系统12被配置成用于当机器人清扫装置2在感兴趣的表面26、26'上移动时拍摄其附近的图像。当机器人清扫装置2正在移动时，3D传感器系统12和垂直线激光器16、18在前行方向上观看(请参见图1)。处理单元20被配置成用于处理所述图像，从而标识这些图像内的地标28、28'并从中产生或创建信息、特征或签名。
处理单元20被配置成用于标识图像中的固定和不可移动的地标28、28'，并且辨别这些地标28、28'和不固定的目标(如家具等)。
现在转至图3，该图以墙壁部分形式示例性展示记录地标28的机器人清扫装置2。机器人清扫装置2将其本身定位在地标28前面以便对其进行观察。通过分别由3D传感器系统12和相机装置14获得图像，机器人清扫装置2和处理单元20分别从地标28创建地标签名，该地标在所示的情况下是直的、平坦的墙壁。
垂直线激光器16、18中的每一个照亮机器人清扫装置2前面的地板和障碍物。3D传感器系统观察被照亮的空间或线。该3D传感器系统被定位成相对于垂直线激光器16、18所形成的垂直面具有偏移，这允许它使用视差确定反射激光束的任何目标或障碍物的3D位置。这使得机器人清扫装置能够确定每个垂直线激光器16、18所照亮的目标或障碍物的3D表示。为了简单起见，图3和图4中仅展示了一个垂直线激光器16的一个垂直激光平面。安排和使用一个以上垂直激光平面并因此安排和使用一个以上垂直线激光器16、18(请参见图2)以便照亮这些障碍物，是落在本发明的范围内。
垂直激光平面具有垂直角β，所述角被选择为使得垂直激光平面至少照亮3D传感器系统12的视角。
为了照亮并记录障碍物和地标28，机器人清扫装置2可以被配置成转动使得垂直线激光器16扫描整个地标28，如图4中所表明的。可替代机器人清扫装置2转动，可以仅是垂直线激光器16、18转动或枢转。
如图4中所展示的，地标28’可以是一件家具并且可以包括以下特征或特性中的一个或多个：地标的中点M的位置、地标的表面法线N的取向和起点、关于地标的水平延伸部分D的信息、关于地标的表面的尺寸A的信息和/或关于地标的表面的形状的信息。可以通过平移或转动机器人清扫装置来提取这些特征，从而使得垂直线激光器16、18可以扫描附近，并且使得相机装置14可以创建其前面的整个体积的3D表示。在此3D表示中，可以标识地标。此类地标的一种可能的类别为平坦表面，如A。
在图4中，表面信息可以例如是“平坦的”，并且表面可以由3D空间中的对应的平面的坐标来限定。
另外，根据本发明的方法和机器人清扫装置还允许测量和提取与垂直距离B相关的特性，该垂直距离示出了家具在地面上方的高度、家具的主体的高度H或家具的总高度C。
提取上述特征可以创建不容易与其他潜在地标签名匹配的丰富的地标签名。
从上文表明的特性之一(例如水平延伸部分D)中，处理单元20创建或产生包括地标的至少一个3D特性的有效、独特的地标签名。
为了提高准确度，可以将这些特性中的一个或多个结合从而创建独特且特定的地标签名。
可选地，还可以获取并存储与墙壁的竖直延伸部分V有关的信息。这取决于房间，假如该房间在所有区域具有相同的竖直延伸部分V，这可能没有用。然而，一个房间可能具有不同竖直延伸部分V或高度，并且在这种情况下，创建与此竖直延伸部分V相关的特性可能导致一种可以用于创建预先确定的或产生的地标签名的特性。
竖直延伸部分V还可以用于计算和定位地标的表面上的中点M。
存储上述所有特性，例如通过三维(3D)空间内的坐标和向量，所产生和预先确定的地标签名因此优选地为3D地标签名。例如表面法线N能够以具有3D起点和3D终点(3D坐标)向量为特征，因为图3中所展示的墙壁可以例如是倾斜的。
机器人清扫装置2和处理单元20分别存储所产生的与其在表面26、26'内的位置相关的地标签名，从而使得在初始清扫过程中，创建和存储表面26、26'的位置数据。一旦存储了所产生的地标签名，例如在存储介质22上的数据库中，它就变成预先确定的地标签名。在产生至少一个地标签名之后，将其与预先确定的地标签名进行对比。在第一次初始清扫操作过程中，机器人清扫装置2可以存储所产生的地标签名中的大多数以便建立数据库。
根据本发明的方法和机器人清扫装置通过产生匹配，因此通过向机器人清扫装置产生反馈来提高机器人清扫装置的定位的反馈准确度，该反馈涉及所知道的地标的信息，从而使得机器人清扫装置知道它定位在何处。减少了定位的错误匹配以及因此的误差。地标可以提供的特征或特性越多或者地标允许被提取的特征越多，机器人清扫装置的定位和本地化就越好。
图4展示了记录和观察另一墙壁的另一示例性表面26’的机器人清扫装置2。墙壁由两个平坦的和一个柱体表面组成。除了能够识别图3中所展示的特性之外，机器人清扫装置2和处理单元20分别可以被配置成用于识别特性或特征，如主体的高度H、主体的地面上方的高度B、家具的水平延伸部分D、表面中点M和/或表面法线N的方向，如图4中所示。从上述特性或特征，机器人清扫装置2通过处理单元20创建所产生的以及因此稍后预先确定的地标签名。在产生地标签名之后，机器人清扫装置2可以继续清扫操作或直接处理另一地标，例如，假如这是初始的清扫操作。
可替代地，在图4中所示的情况下，机器人清扫装置2可以改变其位置从而创建同一地标28’的所产生的其他地标签名，从而使当从另一方向接近地标28’时能够对其进行识别。在图4中的所呈现的示例中，这可以例如是图4中所展示的家具的主体的深度E。
当机器人清扫装置在移动时，地标识别还可以发生在清扫操作过程中，从而即时定位与地图构建。
图5展示了用于运行机器人清扫装置的方法步骤。这些方法步骤可以包括通过机器人清扫装置的检测相机装置14记录S01其附近的图像；标识S02图像中的地标，并从该图像标识其在表面26、26’内的位置以及机器人清扫装置的位置，并从该地标推导信息从而通过处理单元20产生S03所产生的地标签名。然后存储S04所产生的该地标签名并将其与之前已经预先确定的地标签名进行比较S05，并且在决策器30中已经决定了所产生的地标签名是否与这些预先确定的地标签名之一不匹配S06；或所产生的地标位置签名是否与预先确定的这些地标位置签名之一匹配S07。取决于其结果，然后确定所产生的地标签名是已知的S07或是新的S06。
地标识别改善了机器人清扫装置2在感兴趣的表面26、26’(必须被清扫的表面或不应被清扫的表面)上的导航。
可以借助遥控器将机器人清扫装置2引导至表面26、26’内的特定地标28、28’并让其倚靠并识别地标28、28’，可以缩短识别阶段，因此在该识别阶段中，机器人清扫装置2学习感兴趣的表面26、26’的布局、地图或地面布置图以及因此位置数据。可替代地，机器人清扫装置2可以被配置成用于自主地移动并学习表面26、26’的布局。
可以对所产生的/预先确定的地标签名进行标注从而将其指定给它们所位于的房间或区域。所标注的地标则可以与多个指令绑定，如“每次都清扫”、“一周清扫一次”、“每天清扫”、“只在晚上清扫”、“避开此区域”等。
上文主要参照一些实施例对本发明进行了描述。然而，本领域技术人员容易了解的是，除了上文披露的实施例之外的其他实施例在由所附专利权利要求书限定的本发明的范围内同样是可能的。

Claims (14)

1.一种运行机器人清扫装置的方法，该方法包括以下步骤：
-用一个目标检测装置记录(S01)该机器人清扫装置附近的障碍物检测装置输出数据；
-根据障碍物检测装置输出数据标识(S02)一个地标及其位置并根据该地标推导信息，从而产生(S03)一个地标签名；
-存储(S04)所产生的该地标签名；
-将所产生的该地标签名与预先确定的多个地标签名进行比较(S05)；以及
-确定所产生的该地标签名与预先确定的这些地标签名是否匹配(30)；
-基于所述确定来运行该机器人清扫装置；
该地标签名是基于该地标的三维(3D)特征；
所述地标是固定目标或障碍物。
2.根据权利要求1所述的方法，其中，该障碍物检测装置输出数据是一个相机装置(14)记录的图像的形式。
3.根据权利要求1至2中任意一项所述的方法，其中，运行步骤包括基于所述确定对该机器人清扫装置进行导航。
4.根据权利要求1至3中任意一项所述的方法，包括以下步骤：基于该机器人清扫装置的当前位置，将所产生的该地标签名定位和存储在地图中。
5.根据权利要求1至4中任意一项所述的方法，包括以下步骤：推导与该地标的3D表面形状相关的信息。
6.根据权利要求1至5中任意一项所述的方法，包括以下步骤：推导该地标的一个表面的中点的位置相关的信息。
7.根据权利要求6所述的方法，包括以下步骤：推导该地标的该表面的一个表面法线(A)的方向和/或角度相关的信息。
8.一种机器人清扫装置，包括：
-一个主体(4)；
-推进系统(8，8')，该推进系统被配置成用于移动该机器人清扫装置穿过感兴趣的表面(26，26')；
-障碍物检测装置，该障碍物检测装置被配置成用于检测障碍物；
-处理单元(20)，该处理单元被配置成用于根据障碍物检测装置输出数据确定该机器人清扫装置相对于检测到的障碍物的位置，并进一步用于控制该推进系统(8，8')移动该机器人清扫装置穿过感兴趣的表面(26，26')，
其特征在于，该处理单元(20)被配置成用于根据该障碍物检测装置输出数据标识地标及其位置，从而从该地标导出至少一个特征以便创建和存储产生的地标签名，该处理单元(20)进一步被配置成用于将产生的该地标签名与预先确定的多个地标签名进行比较，并用于确定产生的该地标签名与预先确定的这些地标签名之一是否匹配(30)，并且该处理单元(20)进一步被配置成基于所述确定来运行该机器人清扫装置；
预先确定和产生的这些地标签名包括对应地标的一种三维(3D)特性；
所述地标是固定目标或障碍物。
9.根据权利要求8所述的机器人清扫装置，其中，所述障碍物检测装置包括3D传感器系统(12)。
10.根据权利要求8或9所述的机器人清扫装置，所述3D传感器系统(12)包括：
相机装置(14)，该相机装置被配置成用于记录该机器人清扫装置附近的多张图像；以及
第一垂直线激光器和第二垂直线激光器(16，18)，该第一垂直线激光器和第二垂直线激光器被配置成用于照亮该机器人清扫装置的所述附近；
该处理单元(20)，进一步被配置成用于根据所记录的这些图像推导位置数据。
11.根据权利要求8至10中任意一项所述的机器人清扫装置，其中，所述运行包括该处理单元(20)对该机器人清扫装置的导航。
12.根据权利要求10至11中任意一项所述的机器人清扫装置，其中，该处理单元(20)被配置成用于根据所记录的与该地标的一个3D表面形状相关的图像来推导信息。
13.根据权利要求10至12中任意一项所述的机器人清扫装置，其中，该处理单元(20)被配置成用于根据所记录的与该地标的一个表面的中点的位置相关的图像来推导信息。
14.根据权利要求13所述的机器人清扫装置，其中，该处理单元(20)被配置成用于根据所记录的与该地标的该表面的一个表面法线(N)相关的图像来推导信息。
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US20160302639A1 (en) 2016-10-20
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