CN105856229A - Indoor positioning method, device and sweeping robot - Google Patents
Indoor positioning method, device and sweeping robot Download PDFInfo
- Publication number
- CN105856229A CN105856229A CN201610292538.3A CN201610292538A CN105856229A CN 105856229 A CN105856229 A CN 105856229A CN 201610292538 A CN201610292538 A CN 201610292538A CN 105856229 A CN105856229 A CN 105856229A
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- China
- Prior art keywords
- indoor
- information
- critical object
- positional information
- indoor map
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Classifications
-
- 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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- 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
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- 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
- B25J9/1666—Avoiding collision or forbidden zones
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention provides an indoor positioning method, a device and a sweeping robot. The method comprises the following steps: in a sweeping process, initializing an indoor map by the robot, wherein the initiation comprises drawing the map indoors to acquire indoor map information and acquire key point positions at the same time; determining whether the positions of indoor key objects change or not, if so, determining the current position point information of the robot according to the indoor map information and the key point positions; and sweeping the indoor ground according to the current position point information and the indoor map information. The method can continuously finish the indoor sweeping work without drawing the indoor map information again when the indoor environment changes, for example, a sweeping room is changed, so that the work efficiency is improved.
Description
Technical field
The present invention relates to artificial intelligence field, particularly relate to a kind of indoor orientation method, device and sweeping robot.
Background technology
Along with improving constantly of people's living standard, the application of controlling intelligent household appliances is more and more extensive, and there are boundless market prospects, sweeping robot, also known as automatically sweeping machine, intellective dust collector, robot cleaner etc., it is the one of controlling intelligent household appliances, automatically can complete floor cleaning work in room by certain artificial intelligence.
Generally, sweeping robot, when cleaning flooring, is set up coordinate data with the seat origin of coordinates of charging, and is utilized the impact switch of self or infrared/ultrasonic sensor to set up grid coordinate map, and clean indoor according to grid coordinate map.But, when indoor object space changes, the position of such as cradle changes or changes cleaning room, the grid coordinate map originally set up will produce the biggest 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 operating efficiency of sweeping robot.
Summary of the invention
The present invention provides a kind of indoor orientation method, device and sweeping robot, in order to solve to need to repaint in prior art map, the technical problem that operating efficiency is the highest when indoor environment changes.
First aspect present invention provides a kind of indoor orientation method, including:
Step 101, robot is in cleaning process, indoor map is initialized, initialization includes indoor are carried out mapping, to obtain indoor map information, obtain key point position simultaneously, wherein, initial point position when key point position includes robot initial or the location point stopped when initializing；
Step 102, it is judged that whether indoor critical object position changes, wherein, critical object position is the position of the object being used as location label；
Step 103, if the critical object position of indoor changes, then according to indoor map information and key point position, determines the location point information that robot is current；
Step 104, according to current location point information and indoor map information, cleans flooring.
Further, step 101 specifically includes:
Obtain indoor critical object positional information；
Coordinate system is set up for the origin of coordinates with the current location of cradle；
According to critical object positional information and coordinate system, indoor map is initialized, to obtain indoor map information.
Further, if the critical object position of indoor does not changes, then go to step 105 execution,
Step 105, continues to clean according to indoor map information.
Further, step 102 specifically includes:
Obtain current indoor critical object positional information；
Current indoor critical object positional information is compared with the indoor critical object positional information obtained when initializing, if the most indoor critical object positional information does not all change, then goes to step 105 execution；Otherwise, 103 execution are gone to step.
Second aspect present invention provides a kind of indoor positioning device, it is characterised in that including:
Initialization module, for robot in cleaning process, indoor map is initialized, initialization includes indoor are carried out mapping, to obtain indoor map information, obtain key point position simultaneously, wherein, initial point position when key point position includes robot initial or the location point stopped when initializing；
Judge module, for judging whether the critical object position of indoor changes；
Current location point location module, if changing for the critical object position of indoor, then according to indoor map information and key point position, determines the location point information that robot is current, and wherein, critical object position is the position of the object being used as location label；
First cleans module, for according to current location point information and indoor map information, cleans flooring.
Further, initialization module specifically includes:
Primary importance acquisition of information submodule, is used for obtaining indoor critical object positional information；
Coordinate system obtains submodule, sets up coordinate system for the current location with cradle for the origin of coordinates；
Indoor map acquisition of information submodule, for according to critical object positional information and coordinate system, initializes indoor map, to obtain indoor map information.
Further, said apparatus also includes: second cleans module, cleans according to indoor map information for continuation.
Further, it is judged that module specifically includes:
Second place acquisition of information submodule, is used for obtaining current indoor critical object positional information；
Comparison sub-module, for current indoor critical object positional information being compared with the indoor critical object positional information obtained when initializing, if the most indoor critical object positional information does not all change, then trigger the second cleaning module, otherwise, the first cleaning module is triggered.
Further, second place acquisition of information submodule is infrared sensor, ultrasonic sensor or impact switch.
Third aspect present invention provides a kind of sweeping robot, including above-mentioned indoor positioning device.
Indoor orientation method, device and the sweeping robot that the present invention provides, robot is after initializing indoor map, the location point stopped during by initial point position during record sweeping robot initialization or initialization, current location point information is positioned in conjunction with indoor map information, thus complete the cleaning works to flooring, said method changes in indoor environment, when such as changing cleaning room, indoor map information need not be repainted can continue, to indoor cleaning works, to improve operating efficiency.
Accompanying drawing explanation
Hereinafter based on embodiment reference accompanying drawing, the present invention will be described in more detail.Wherein:
Fig. 1 is the schematic flow sheet of the indoor orientation method according to the embodiment of the present invention one；
Fig. 2 is the schematic flow sheet of the indoor orientation method according to the embodiment of the present invention two；
Fig. 3 is the structural representation of the indoor positioning device according to the embodiment of the present invention three；
Fig. 4 is the structural representation of the indoor positioning device according to the embodiment of the present invention four.
In the accompanying drawings, identical parts use identical reference.Accompanying drawing is not drawn according to actual ratio.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
Embodiment one
Executive agent in the present embodiment is robot, and concrete can be sweeping robot.
Fig. 1 is the schematic flow sheet of the indoor orientation method according to the embodiment of the present invention one；As it is shown in figure 1, the present embodiment provides a kind of indoor orientation method, including:
Step 101, robot is in cleaning process, indoor map is initialized, initialization includes indoor are carried out mapping, to obtain indoor map information, obtain key point position, wherein, the location point that key point position stops when including initial point position when sweeping robot initializes or initialize simultaneously.
Concrete, sweeping robot is when cleaning first, need indoor map is drawn, i.e. indoor map is initialized, to obtain indoor map information, it addition, also need to the location point stopped when recording initial point position when sweeping robot initializes or initialization, in order to use this data during follow-up cleaning again.
Step 102, it is judged that whether indoor critical object position changes, wherein, critical object position is the position of the object being used as location label.
Concrete, the object being used as location label can be the cradle of sweeping robot, bed, sofa, cabinet for TV or chair etc..
Step 103, if the critical object position of indoor changes, then according to indoor map information and key point position, determines the location point information that sweeping robot is current, and wherein, critical object position is the position of the object being used as location label.
Concrete, according to indoor map information and key point position, current location point information is positioned in indoor map, in order to sweeping robot cleans according to indoor map, now, it is not necessary to initialize indoor map, improves operating efficiency.
Step 104, according to current location point information and indoor map information, cleans flooring.
The sweeping robot indoor orientation method that the present embodiment provides, sweeping robot is after initializing indoor map, the location point stopped during by initial point position during record sweeping robot initialization or initialization, current location point information is positioned in conjunction with indoor map information, thus complete the cleaning works to flooring, said method changes in indoor environment, when such as changing cleaning room, indoor map information need not be repainted can continue, to indoor cleaning works, to improve operating efficiency.
Embodiment two
The present embodiment is the supplementary notes carried out on the basis of above-described embodiment.
Fig. 2 is the schematic flow sheet of the sweeping robot indoor orientation method according to the embodiment of the present invention two；As in figure 2 it is shown, the present embodiment provides a kind of indoor orientation method, including:
Step 1011, obtains indoor critical object positional information.
Concrete, obtain the cradle of sweeping robot, bed, sofa, cabinet for TV or chair etc. and be chosen as the positional information of critical object.
Step 1012, sets up coordinate system with the current location of cradle for the origin of coordinates.
Step 1013, according to critical object positional information and coordinate system, initializes indoor map, to obtain indoor map information.
Concrete, according to critical object positional information and coordinate system, indoor map is initialized, so that the cartographic information obtained is all in the coordinate system with the current location of cradle as the origin of coordinates.
Step 1021, obtains current indoor critical object positional information.
Concrete, for the ease of comparing with indoor critical object positional information when initializing, current indoor critical object positional information need to be obtained, judge whether indoor critical object position changes for next step.
Step 1022, compares current indoor critical object positional information with the indoor critical object positional information obtained when initializing, if the most indoor critical object positional information does not all change, then goes to step 105 execution；Otherwise, 103 execution are gone to step.
Concrete, if the most indoor critical object positional information does not all change, then explanation indoor map information and the current location point of sweeping robot are still correct, need not redefine, perform to go to step 105 and continue executing with.
Step 103, if the critical object position of indoor changes, then according to indoor map information and key point position, determines the location point information that sweeping robot is current, and wherein, critical object position is the position of the object being used as location label.
Concrete, if the critical object position of indoor changes, illustrate that indoor map information changes, need to redefine the location point information that sweeping robot is current, so that current location point information position in indoor map is positioned, in order to sweeping robot cleans according to indoor map, now, need not indoor map is initialized, improve operating efficiency.
Step 105, continues to clean according to indoor map information.
The sweeping robot indoor orientation method that the present embodiment provides, sweeping robot is after initializing indoor map, the location point stopped during by initial point position during record sweeping robot initialization or initialization, current location point information is positioned in conjunction with indoor map information, thus complete the cleaning works to flooring, said method changes in indoor environment, when such as changing cleaning room, indoor map information need not be repainted can continue, to indoor cleaning works, to improve operating efficiency.
Embodiment three
The present embodiment is device embodiment, for performing the method in above-described embodiment one.
Fig. 3 is the structural representation of the sweeping robot indoor positioning device according to the embodiment of the present invention three；As it is shown on figure 3, the present embodiment provides a kind of sweeping robot indoor positioning device, including: initialization module 201, judge module 202, current location point location module 203 and first clean module 204.
Wherein, initialization module 201, for sweeping robot in cleaning process, indoor map is initialized, initialization includes indoor are carried out mapping, to obtain indoor map information, obtains key point position simultaneously, wherein, the location point that key point position stops when including initial point position when sweeping robot initializes or initialize；
Judge module 202, for judging whether the critical object position of indoor changes；
Current location point location module 203, if changing for the critical object position of indoor, then according to indoor map information and key point position, determine the location point information that sweeping robot is current, wherein, critical object position is the position of the object being used as location label；
First cleans module 204, for according to current location point information and indoor map information, cleans flooring.
The present embodiment is the device embodiment corresponding with embodiment of the method one, specifically can be found in the description in embodiment one, does not repeats them here.
Embodiment four
The present embodiment is the supplementary notes carried out on the basis of embodiment three, for performing the method in above-described embodiment two.
Fig. 4 is the structural representation of the sweeping robot indoor positioning device according to the embodiment of the present invention four；As shown in Figure 4, initialization module 201 specifically includes: primary importance acquisition of information submodule 2011, coordinate system obtain submodule 2012 and indoor map acquisition of information submodule 2013.
Wherein, primary importance acquisition of information submodule 2011, it is used for obtaining indoor critical object positional information；
Coordinate system obtains submodule 2012, sets up coordinate system for the current location with cradle for the origin of coordinates；
Indoor map acquisition of information submodule 2013, for according to critical object positional information and coordinate system, initializes indoor map, to obtain indoor map information.
Further, described device also includes: second cleans module 205, cleans according to indoor map information for continuation.
Further, it is judged that module 202 specifically includes: second place acquisition of information submodule 2021 and comparison sub-module.
Second place acquisition of information submodule 2021, is used for obtaining current indoor critical object positional information；
Comparison sub-module, for current indoor critical object positional information being compared with the indoor critical object positional information obtained when initializing, if the most indoor critical object positional information does not all change, then trigger the second cleaning module 205, otherwise, the first cleaning module 204 is triggered.
Concrete, second place acquisition of information submodule 2021 is infrared sensor, ultrasonic sensor or impact switch.
The present embodiment is the device embodiment corresponding with embodiment of the method two, specifically can be found in the description in embodiment two, does not repeats them here.
Further, the present invention also provides for a kind of sweeping robot, and described sweeping robot includes the sweeping robot indoor positioning device in above-described embodiment.
Although by reference to preferred embodiment, invention has been described, but without departing from the scope of the invention, it can be carried out various improvement and can replace parts therein with equivalent.Especially, as long as there is not structural hazard, the every technical characteristic being previously mentioned in each embodiment all can combine in any way.The invention is not limited in specific embodiment disclosed herein, but include all technical schemes fallen within the scope of the appended claims.
Claims (10)
1. an indoor orientation method, it is characterised in that including:
Step 101, robot is in cleaning process, indoor map is initialized, initialization includes indoor are carried out mapping, to obtain indoor map information, obtain key point position simultaneously, wherein, initial point position when key point position includes robot initial or the location point stopped when initializing；
Step 102, it is judged that whether indoor critical object position changes, wherein, critical object position is the position of the object being used as location label；
Step 103, if the critical object position of indoor changes, then according to indoor map information and key point position, determines the location point information that robot is current；
Step 104, according to current location point information and indoor map information, cleans flooring.
Indoor orientation method the most according to claim 1, it is characterised in that step 101 specifically includes:
Obtain indoor critical object positional information；
Coordinate system is set up for the origin of coordinates with the current location of cradle；
According to critical object positional information and coordinate system, indoor map is initialized, to obtain indoor map information.
Indoor orientation method the most according to claim 1, it is characterised in that if the critical object position of indoor does not changes, then go to step 105 execution,
Step 105, continues to clean according to indoor map information.
Indoor orientation method the most according to claim 3, it is characterised in that step 102 specifically includes:
Obtain current indoor critical object positional information；
Current indoor critical object positional information is compared with the indoor critical object positional information obtained when initializing, if the most indoor critical object positional information does not all change, then goes to step 105 execution；Otherwise, 103 execution are gone to step.
5. an indoor positioning device, it is characterised in that including:
Initialization module, for robot in cleaning process, indoor map is initialized, initialization includes indoor are carried out mapping, to obtain indoor map information, obtain key point position simultaneously, wherein, initial point position when key point position includes robot initial or the location point stopped when initializing；
Judge module, for judging whether the critical object position of indoor changes；
Current location point location module, if changing for the critical object position of indoor, then according to indoor map information and key point position, determines the location point information that robot is current, and wherein, critical object position is the position of the object being used as location label；
First cleans module, for according to current location point information and indoor map information, cleans flooring.
Indoor positioning device the most according to claim 5, it is characterised in that initialization module specifically includes:
Primary importance acquisition of information submodule, is used for obtaining indoor critical object positional information；
Coordinate system obtains submodule, sets up coordinate system for the current location with cradle for the origin of coordinates；
Indoor map acquisition of information submodule, for according to critical object positional information and coordinate system, initializes indoor map, to obtain indoor map information.
Indoor positioning device the most according to claim 5, it is characterised in that also include:
Second cleans module, cleans according to indoor map information for continuation.
Indoor positioning device the most according to claim 7, it is characterised in that judge module specifically includes:
Second place acquisition of information submodule, is used for obtaining current indoor critical object positional information；
Comparison sub-module, for current indoor critical object positional information being compared with the indoor critical object positional information obtained when initializing, if the most indoor critical object positional information does not all change, then trigger the second cleaning module, otherwise, the first cleaning module is triggered.
Indoor positioning device the most according to claim 7, it is characterised in that second place acquisition of information submodule is infrared sensor, ultrasonic sensor or impact switch.
10. a sweeping robot, it is characterised in that include according to the indoor positioning device described in any one of claim 5-8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610292538.3A CN105856229A (en) | 2016-05-05 | 2016-05-05 | Indoor positioning method, device and sweeping robot |
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| CN201610292538.3A CN105856229A (en) | 2016-05-05 | 2016-05-05 | Indoor positioning method, device and sweeping robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107167143A (en) * | 2017-07-05 | 2017-09-15 | 乐高乐佳（北京）信息技术有限公司 | Guidance quality air navigation aid, device and equipment based on key point |
| CN107914273A (en) * | 2017-11-08 | 2018-04-17 | 浙江工业大学 | Mechanical arm teaching system based on gesture control |
| CN108214498A (en) * | 2016-12-21 | 2018-06-29 | 李汉忠 | A kind of supermarket's rubbish automatic cleaning method |
| WO2019100404A1 (en) * | 2017-11-27 | 2019-05-31 | 深圳市沃特沃德股份有限公司 | Visual floor sweeping robot and repositioning method thereof |
| CN110466913A (en) * | 2019-07-29 | 2019-11-19 | 东莞弓叶互联科技有限公司 | Rubbish collection methods and device |
| CN110498166A (en) * | 2019-08-07 | 2019-11-26 | 东莞弓叶互联科技有限公司 | Rubbish recovering method, device, computer equipment and storage medium |
| CN110641872A (en) * | 2019-09-06 | 2020-01-03 | 东莞弓叶互联科技有限公司 | Garbage can transportation method and system |
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| CN110641872A (en) * | 2019-09-06 | 2020-01-03 | 东莞弓叶互联科技有限公司 | Garbage can transportation method and system |
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Address after: 200433, five floor, Boston International Building, 18 Yangpu District Government Road, Shanghai. Applicant after: Shanghai Ming me information technology Co., Ltd. Address before: 200433, five floor, Boston International Building, 18 Yangpu District Government Road, Shanghai. Applicant before: Shanghai Hui Liu cloud computing Science and Technology Ltd. |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160817 |
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| WD01 | Invention patent application deemed withdrawn after publication |