CN106175606A - Robot and the method for the autonomous manipulation of realization, device - Google Patents
Robot and the method for the autonomous manipulation of realization, device Download PDFInfo
- Publication number
- CN106175606A CN106175606A CN201610678042.XA CN201610678042A CN106175606A CN 106175606 A CN106175606 A CN 106175606A CN 201610678042 A CN201610678042 A CN 201610678042A CN 106175606 A CN106175606 A CN 106175606A
- Authority
- CN
- China
- Prior art keywords
- block
- robot
- action
- zone
- registration operation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- 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
-
- 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
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The disclosure is directed to a kind of robot and realize the method for autonomous manipulation, device, this robot may include that sensory perceptual system, and described sensory perceptual system is for carrying out perception to the surrounding of robot；Control system, described control system obtains the perception data of described sensory perceptual system, determines the zone of action of described robot according to described perception data and Predistribution Algorithm；Described zone of action comprises multiple block, and the plurality of block can be processed by described control system, makes the specification of the block after process be not less than and presets specification, so that described robot can perform predetermined registration operation in block after the treatment.By the technical scheme of the disclosure, it can be ensured that the robot comprehensive covering to zone of action.
Description
Technical field
It relates to robotics, particularly relate to a kind of robot and realize the method for autonomous manipulation, dress
Put.
Background technology
There is the autonomous robot manipulating ability, active perception surrounding enviroment can be passed through, determine the behaviour area of self
Territory.Owing to zone of action is relatively big, for classifying rationally circuit, improving energy efficiency, after zone of action can being divided into some blocks,
Run to each block respectively, and in block, independently complete predetermined registration operation.Robot has certain volume, there is corresponding sky
Between take so that only when block itself is not less than when taking up room of robot, and robot can enter this block and hold
Row predetermined registration operation.
But, the block that zone of action marks off is not always able to meet the space hold of robot, causes robot
The too small block of some specifications may be cannot be introduced into and carry out predetermined registration operation, thus zone of action cannot be covered comprehensively.
Summary of the invention
The disclosure provides a kind of robot and realizes the method for autonomous manipulation, device, to solve in correlation technique not
Foot.
First aspect according to disclosure embodiment, it is provided that a kind of robot with autonomous manipulation function, including:
Sensory perceptual system, described sensory perceptual system is for carrying out perception to the surrounding of robot；
Control system, described control system obtains the perception data of described sensory perceptual system, according to described perception data and
Predistribution Algorithm determines the zone of action of described robot；Described zone of action comprises multiple block, and described control system can be right
The plurality of block processes, and makes the specification of the block after process not less than presetting specification, so that described robot can be
Predetermined registration operation is performed in block after described process.
Optionally, described sensory perceptual system includes: range unit, for detecting between described robot and peripheral obstacle
Distance；Wherein, the distance that described range unit records is by as described perception data.
Optionally, described Predistribution Algorithm includes immediately positioning and map structuring algorithm.
Optionally, described control system uses following manner to process the plurality of block:
When the specification of either block is less than described default specification, described either block is extended model towards adjacent block
Enclose, so that the specification after described either block is expanded is not less than described default specification.
Optionally, the block being expanded process is set to the district of the described predetermined registration operation of repeatable execution by described control system
Block.
Optionally, when the artificial autonomous cleaning devices of described machine, described zone of action is described autonomous cleaning devices
Cleaning region, described predetermined registration operation is cleaning action.
Second aspect according to disclosure embodiment, it is provided that a kind of robot that controls realizes the autonomous method manipulated, including:
Determine the zone of action of described robot；
Described zone of action is divided into multiple block；
The plurality of block is processed, makes the specification of the block after process be not less than and preset specification, so that described machine
Device people can perform predetermined registration operation in block after the treatment.
Optionally, described the plurality of block is processed, including:
When the specification of either block is less than described default specification, described either block is extended model towards adjacent block
Enclose, so that the specification after described either block is expanded is not less than described default specification.
Optionally, also include:
The block being expanded process is set to the block of the described predetermined registration operation of repeatable execution.
Optionally, when the artificial autonomous cleaning devices of described machine, described zone of action is described autonomous cleaning devices
Cleaning region, described predetermined registration operation is cleaning action.
The third aspect according to disclosure embodiment, it is provided that a kind of robot that controls realizes the device of autonomous manipulation, including:
Determine unit, determine the zone of action of described robot；
Division unit, is divided into multiple block by described zone of action；
Processing unit, processes the plurality of block, makes the specification of the block after process be not less than and presets specification, with
Predetermined registration operation is performed in enabling described robot block after the treatment.
Optionally, described processing unit includes:
Extension subelement, when described either block specification less than described default specification time, by described either block towards
Adjacent block spreading range, so that the specification after described either block is expanded is not less than described default specification.
Optionally, also include:
Unit is set, the block being expanded process is set to the block of the described predetermined registration operation of repeatable execution.
Optionally, when the artificial autonomous cleaning devices of described machine, described zone of action is described autonomous cleaning devices
Cleaning region, described predetermined registration operation is cleaning action.
Embodiment of the disclosure that the technical scheme of offer can include following beneficial effect:
From above-described embodiment, the disclosure, by when dividing the zone of action of robot, adds block specification
Consider, by block being processed and making it be not less than default specification, it is ensured that robot can enter the institute marked off smoothly
There is block and perform predetermined registration operation, it is achieved the comprehensive covering to zone of action.
It should be appreciated that it is only exemplary and explanatory, not that above general description and details hereinafter describe
The disclosure can be limited.
Accompanying drawing explanation
Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meet the enforcement of the disclosure
Example, and for explaining the principle of the disclosure together with description.
Fig. 1-4 is the structural representation according to a kind of robot shown in an exemplary embodiment.
Fig. 5 A-5C is a kind of signal dividing block in zone of action proposed according to the disclosure one exemplary embodiment
Figure.
Fig. 6 is to realize the flow process of the autonomous method manipulated according to a kind of robot that controls shown in an exemplary embodiment
Figure.
Fig. 7 is to control, according to a kind of of the disclosure one exemplary embodiment, the flow process that robot realizes the method for autonomous cleaning
Figure.
Fig. 8-14 is according to a kind of schematic diagram dividing block in cleaning region shown in an exemplary embodiment.
Figure 15-17 is to realize the frame of the autonomous device manipulated according to a kind of robot that controls shown in an exemplary embodiment
Figure.
Figure 18 is according to a kind of device realizing autonomous manipulation for controlling robot shown in an exemplary embodiment
Structural representation.
Detailed description of the invention
Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.Explained below relates to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they are only with the most appended
The example of the apparatus and method that some aspects that described in detail in claims, the disclosure are consistent.
Fig. 1-4 is the structural representation according to a kind of robot shown in an exemplary embodiment, as Figure 1-4, machine
Device people 100 can be the autonomous cleaning devices such as sweeping robot, floor-mopping robot, and this robot 100 can comprise machine body
110, sensory perceptual system 120, control system 130, drive system 140, cleaning systems 150, energy resource system 160 and man-machine interactive system
170.Wherein:
Machine body 110 includes forward portion 111 and backward part 112, and having approximate circular shape (is the most all circle
Shape), it is possible to there is other shapes, approximation D-shape round after including but not limited to front.
Sensory perceptual system 120 includes being positioned at the position determining means 121 above machine body 110, is positioned at machine body 110
The buffer 122 of forward portion 111, steep cliff sensor 123 and sonac (not shown), infrared sensor are (in figure
Not shown), magnetometer (not shown), accelerometer (not shown), gyroscope (not shown), speedometer (figure
Not shown in) etc. sensing device, various positional informationes and the movement state information of machine are provided to control system 130.Position is true
Determine device 121 and include but not limited to photographic head, laser ranging system (LDS).Below with the laser ranging system of triangle telemetry
As a example by illustrate how that carrying out position determines.Ultimate principle geometric ratio based on the similar triangles relation of triangle telemetry, at this not
Repeat.
Laser ranging system includes luminescence unit and light receiving unit.Luminescence unit can include the light source launching light, light source
Light-emitting component can be included, such as, launch Infrared or the infrared or luminous ray light emitting diode (LED) of luminous ray.Excellent
Selection of land, light source can be the light-emitting component launching laser beam.In the present embodiment, using laser diode (LD) as the example of light source
Son.Specifically, due to monochrome, orientation and the collimation property of laser beam, use the light source of laser beam so that measure compared to
Other light is the most accurate.Such as, compared to laser beam, Infrared or luminous ray that light emitting diode (LED) is launched are subject to week
Enclose such environmental effects (color of such as object or texture), and may decrease in measurement accuracy.Laser diode
(LD) can be a laser, measure the two-dimensional position information of barrier, it is also possible to be line laser, measure the certain model of barrier
Enclose interior three dimensional local information.
Light receiving unit can include imageing sensor, forms the light being reflected by barrier or scattering on this imageing sensor
Point.Imageing sensor can be the set of single or plurality of rows of multiple unit picture elements.These photo detectors can be by optical signal
Be converted to the signal of telecommunication.Imageing sensor can be complementary metal oxide semiconductors (CMOS) (CMOS) sensor or charge coupled cell
(CCD) sensor, owing to the advantage on cost is preferably complementary metal oxide semiconductors (CMOS) (CMOS) sensor.And, light
Unit can include sensitive lens assembly.The light reflected by barrier or scatter can be advanced via sensitive lens assembly with at figure
As forming image on sensor.Sensitive lens assembly can include single or multiple lens.
Base portion can support luminescence unit and light receiving unit, luminescence unit and light receiving unit and be arranged on base portion and to each other
Every a specific range.For the barrier situation on 360 degree of directions around robot measurement, base portion can be made to be rotatably arranged
In main body 110, it is also possible to base portion itself does not rotates and makes by arranging rotation element transmitting light, reception light rotate.
The angular velocity of rotation rotating element can obtain by arranging optic coupling element and code-disc, and the tooth on optic coupling element sensing code-disc lacks,
Lack time that slips over of spacing by tooth and tooth lacks spacing distance values and is divided by available instantaneous angular velocity.The density that on code-disc, tooth lacks is more
Greatly, the accuracy rate of measurement and precision are also the highest, but the most accurate, and amount of calculation is the highest；Otherwise, tooth lacks
Density the least, the accuracy rate of measurement and precision are the lowest, but structurally can be relatively easy, and amount of calculation is also got over
Little, some costs can be reduced.
The data processing equipment being connected with light receiving unit, such as DSP, by relative to all angles on 0 degree of angular direction of robot
Obstacle distance value record at degree also sends the data processing unit in control system 130 to, and the application as comprised CPU processes
Device (AP), CPU runs location algorithm based on particle filter and obtains the current location of robot, and charts according to this position, supplies
Navigation uses.Location algorithm is preferably used instant location and map structuring (SLAM).
Although laser ranging system based on triangle telemetry can measure the infinity beyond certain distance in principle
The distance value of distance, but actually telemeasurement, such as more than 6 meters, realization be the most difficult, be primarily due to light
The size limitation of pixel cell on the sensor of unit, simultaneously the most also by the opto-electronic conversion speed of sensor, sensor and be connected
Data transmission bauds between DSP, the calculating speed impact of DSP.The measured value that laser ranging system temperature influence obtains is also
The change that system can be occurred to can not put up with, the thermal expansion that the structure being primarily due between luminescence unit and light receiving unit occurs becomes
Shape causes the angle between incident illumination and emergent light to change, and luminescence unit and light receiving unit self also can exist temperature drift problem.Swash
After optical range finding apparatus life-time service, due to the accumulation of the many factors such as variations in temperature, vibration, the deformation that causes also can serious shadow
Ring measurement result.The accuracy of measurement result directly determines the accuracy of map making, is that robot carries out strategy further
The basis carried out, particularly important.
The forward portion 111 of machine body 110 can carry buffer 122, and during cleaning, driving wheel module 141 advances
Robot when ground running, buffer 122 via sensing system, such as infrared sensor, the traveling of measuring robots 100
One or more event (or object) in path, robot can be by the event (or object) detected by buffer 122, such as
Barrier, wall, and control driving wheel module 141 and make robot that described event (or object) to be responded, for example away from
Barrier.
Control system 130 is arranged on the circuit main board in machine body 110, including with non-transitory memory, such as
Hard disk, flash memory, random access memory, the computation processor of communication, such as CPU, application processor,
The obstacle information that application processor feeds back according to laser ranging system utilizes location algorithm, such as SLAM, drawing robot institute
Instant map in the environment.And combining buffer 122, steep cliff sensor 123 and sonac, infrared sensor, magnetic
The range information of sensing device feedback, the velocity information comprehensive descision sweepers such as power meter, accelerometer, gyroscope, speedometer are worked as
Before be in which kind of duty, as crossed threshold, upper carpet, be positioned at steep cliff, either above or below is stuck, and dirt box is full, is taken
Rise etc., also can provide next step concrete action policy for different situations so that the work of robot more conforms to owner
Requirement, have more preferable Consumer's Experience.Further, the instant map information planning that control system 130 can be drawn based on SLAM
The most efficient and rational cleaning path and the mode of cleaning, be greatly improved the sweeping efficiency of robot.
Drive system 140 can based on having distance and angle information, the drive command of such as x, y and θ component and handle machine
Device people 100 crosses over ground run.Drive system 140 comprises driving wheel module 141, and driving wheel module 141 can control a left side simultaneously
Wheel and right wheel, in order to more accurately control the motion of machine, preferably driving wheel module 141 include respectively left driving wheel module and
Right driving wheel module.Left and right driving wheel module is opposed along the lateral shaft defined by main body 110.In order to robot can be on ground
Moving on face or higher motor capacity, robot can include one or more driven pulley 142, driven more stablely
Wheel includes but not limited to universal wheel.Driving wheel module includes road wheel and drives motor and control to drive the control electricity of motor
Road, driving wheel module can also connect measures circuit and the speedometer driving electric current.Driving wheel module 141 can removably connect
Receive in main body 110, easy disassembly and maintenance.Driving wheel can have biasing drop suspension system, movably fastens,
The most rotatably it is attached, to robot body 110, and the spring receiving downwards and biasing away from robot body 110
Biasing.Spring biasing allows driving wheel contacting and traction with certain Productivity maintenance and ground, and robot 100 is clear simultaneously
Clean element is also with certain pressure contact ground 10.
Cleaning systems 150 can be dry cleaning system and/or wet cleaning system.As dry cleaning system, main
It is clear that cleaning function comes from roller brushes structure, dirt box structure, blower fan structure, connection member between air outlet and four are constituted
Sweep system 151.With ground, there is the roller brushes structure of certain interference and ground rubbish is swept up also winding to roller brushes structure and dirt
Suction port front between box structure, then produced by blower fan structure and through dirt box structure have suction gas suck dirt box
Structure.The dust collection capacity of sweeper can characterize with the sweeping efficiency DPU (Dust pick up efficiency) of rubbish,
Sweeping efficiency DPU by roller brushes structure and Effect of Materials, by suction port, dirt box structure, blower fan structure, between air outlet and four
The wind power utilization rate impact in the air channel that constituted of connection member, affected by type and the power of blower fan, be a complicated system
Design problem.Compared to common plug-in vacuum cleaner, improving of dust collection capacity is anticipated for the clean robot of limited energy
Justice is bigger.Because the raising of dust collection capacity directly effectively reduces for energy requirements, say, that originally fill the most electric permissible
Clean the machine on 80 square meter ground, can evolve the most for filling once electricity cleaning 180 square meters.And reduce charging times
The service life of battery also can be greatly increased so that user changes the frequency of battery also can be increased.The most directly perceived and it is essential that
The raising of dust collection capacity is the most obvious and important Consumer's Experience, user can immediately arrive at sweep whether clean/whether wipe
Clean conclusion.Dry cleaning system also can comprise the limit brush 152 with rotary shaft, and rotary shaft becomes certain angle relative to ground
Degree, in the round brush region that chip moves to cleaning systems 150.
Energy resource system 160 includes rechargeable battery, such as Ni-MH battery and lithium battery.Rechargeable battery can connect charging control
Circuit processed, set of cells charging temperature testing circuit and battery undervoltage observation circuit, charging control circuit, set of cells charging temperature are examined
Slowdown monitoring circuit, battery undervoltage observation circuit are connected with single chip machine controlling circuit again.Main frame is by being arranged on fuselage side or lower section
Charging electrode be connected with charging pile and be charged.
Man-machine interactive system 170 includes the button on host panel, and button carries out function selecting for user；Can also include
Display screen and/or display lamp and/or loudspeaker, display screen, display lamp and loudspeaker to user show current machine status or
Function selecting item；Mobile phone client program can also be included.Equipment is cleaned for path navigation type, can be at cell-phone customer terminal
The map of user's presentation device place environment, and machine present position, can provide a user with more horn of plenty and hommization
Function items.
In order to clearly describe the behavior of robot, carry out the definition of following direction: robot 100 can by relative to
The following three defined by main body 110 is mutually perpendicular to the various combinations of the movement of axle and advances on the ground: lateral shaft x, antero posterior axis y
And central vertical shaft z.Forward hand designations along antero posterior axis y is " forward direction ", and along the backward driving side of antero posterior axis y
To being denoted as " backward ".Lateral shaft x substantially along the axle center defined by the central point of driving wheel module 141 in robot
Extend between right wheel and revolver.Wherein, robot 100 can rotate around x-axis.When the forward portion of robot 100 is inclined upwardly,
For " facing upward " when backward part is downward-sloping, and when the forward portion of robot 100 is downward-sloping, when backward part is inclined upwardly
For " nutation ".It addition, robot 100 can rotate around z-axis.On the forward direction of robot, when robot 100 is to Y-axis
Right side tilts for " right-hand rotation ", when robot 100 is " left-hand rotation " to the left side of y-axis.
Robot 100 carries out perception by sensory perceptual system 120 to the surrounding of self, and control system 130 can root
Determine the zone of action of this robot 100 according to the perception data of sensory perceptual system 120 and Predistribution Algorithm, and this zone of action is drawn
It is divided into multiple block so that robot 100 can perform predetermined registration operation in these multiple blocks.Wherein, Predistribution Algorithm can wrap
Include instant location and map structuring (simultaneous localization and mapping, SLAM) algorithm, certainly these public affairs
Open and this is not limited.Below as a example by SLAM algorithm, robot 100 perception and division are obtained multiple block and retouches
State:
As shown in Figure 5A, robot 100 is positioned at room, needs that this room carries out perception and block division processes.False
Determine robot 100 to be configured to carry out block division according to the specification of 2d × 2d, then robot 100 first passes through ring around
The perception in border, it is determined whether self can be placed in the central spot of the dummy block of this 2d × 2d specification.In the reality shown in Fig. 5 A
Execute in example, it is assumed that be to there is not barrier, i.e. robot 100 in the range of d to adopt as one with robot 100 spacing distance
By the central spot of the dummy block of 2d × 2d specification, i.e. the center of dummy block (indicating with dotted line) residing for labelling " A5 " in Fig. 5 A
At Dian.
So, robot 100 divides, according to the specification of 2d × 2d, the dummy block obtained residing for this labelling " A5 ", then according to
This 2d × 2d specification stretches out along each edge such as upper and lower, left and right of this dummy block, obtains in Fig. 5 A forming room covering
9 dummy block of lid.Owing to room exists actual border (adding heavy line with black to indicate), and robot 100 can be with perception
To room boundaries, thus jointly marked off 9 shown in Fig. 5 A block by the virtual boundary on the entity border in room Yu dummy block,
Including block A1, block A2, block A3 ... block A9 etc..
Certainly, robot 100 is not always able to be placed in self the center of dummy block.As shown in Figure 5 B, room is worked as
During interior existence such as barrier 1, barrier 2 etc., if the spacing distance between robot 100 and barrier 1, barrier 2 be a1,
A2, and a1 ＜ d, a2 ＜ d, then robot 100 extends along self with the opposite direction of barrier 1, barrier 2, obtains in Fig. 5 B
Residing for labelling " A5 ' ", to meet predetermined 2d × 2d specification dummy block.
Then, being similar to the embodiment shown in Fig. 5 A, robot 100 extends in figure 5b and obtains 9 dummy block, and according to
The virtual boundary of the entity border in room, the entity border of barrier and dummy block jointly divides and obtains 10 shown in Fig. 5 B
Block, including block A1 ', block A2 ', block A3 ' ... block 10 ' etc..
So, control system 130, according to above-mentioned block division result, selects each block as robot 100 successively
Steps target, thus control robot 100 and run to each onblock executing predetermined registration operation successively.
For convenience of description, block 1, block 2 and the district during Fig. 5 C schematically shows the zone of action of robot 100
Block 3；Wherein, the vertical direction specification of block 1, block 2 and block 3 is L0, and the horizontal direction specification of block 1 is L1, district
The horizontal direction specification of block 2 is L2, the horizontal direction specification of block 3 is L3.When robot 100 performs to preset in certain block
During operation, this block is required to accommodate robot 100 completely, and otherwise robot 100 will be judged to cannot be introduced into this block, from
And select to abandon carrying out predetermined registration operation in respective block.
Therefore it is presumed that the horizontal direction of robot 100, vertical direction specification are D, then as L0 ＞ D, L2 ＞ L1 ＞ D
During ＞ L3, show that block 1, block 2 all can accommodate this robot 100 completely, but block 3 cannot accommodate this robot completely
100 (in other words, robot 100 will be considered that and self cannot be introduced into this block 3), then according to the processing scheme in correlation technique,
Robot 100 can abandon the process to block 3, and causing cannot be to all standing of zone of action.
Therefore, the disclosure, by improving the function of control system 130, can optimize the block division side to zone of action
Formula, to guarantee that robot 100 realizes all standing to zone of action.It is described in detail below in conjunction with embodiment:
Fig. 6 is to realize the flow process of the autonomous method manipulated according to a kind of robot that controls shown in an exemplary embodiment
Figure, as shown in Figure 6, the method is applied in the control system 130 of robot 100, may comprise steps of:
In step 602, the zone of action of described robot 100 is determined.
In the present embodiment, by sensory perceptual system 120, the surrounding of robot 100 can be carried out perception, such as this sense
Know that system 120 can include range unit, the distance between this range unit measuring robots 100 and peripheral obstacle, and will
The distance recorded is as above-mentioned perception data.
And control system 130 is by obtaining the perception data of sensory perceptual system 120, can be according to this perception data and preset
Algorithm determines the zone of action of robot 100.Wherein, Predistribution Algorithm can be above-mentioned SLAM algorithm；Certainly, other are arbitrarily calculated
Method can also be applied in the technical scheme of the disclosure, and this is not limited by the disclosure.
In step 604, described zone of action is divided into multiple block.
In step 606, the plurality of block is processed, make the specification of the block after process not less than presetting rule
Lattice, so that described robot 100 can perform predetermined registration operation in the plurality of block.
In the present embodiment, by control system 130, zone of action can be carried out block division and process.Wherein, control
System 130 can be in the specification of either block less than when presetting specification, by this either block towards adjacent block spreading range, with
Specification after this either block is expanded is not less than presetting specification.
In the present embodiment, so that robot 100 can enter in block, then the specification of block should the most not
Less than the fuselage specification of robot 100, the most above-mentioned default specification can be the fuselage specification of robot 100；Certainly, rule are preset
Lattice can also be other sizes, is greater than any specification of the fuselage specification of robot 100, as long as being able to ensure that robot
100 enter respective block.
In the present embodiment, control system 130 can be removed by this arbitrary district from the adjacent block of any of the above-described block
Block extends the part taken so that while robot 100 can realize all standing to zone of action, it is to avoid robot 100 is right
This occupied part repeats predetermined registration operation, contributes to preventing robot 100 from causing electricity when repeating predetermined registration operation
Power and the consumption of time.Certainly, this occupied part is gone division operation not necessarily, even if robot 100 is occupied to this
Part repeat predetermined registration operation, do not interfere with its global behavior yet.
From above-described embodiment, the disclosure, by when dividing the zone of action of robot, adds block specification
Consider, by block being processed and making it be not less than default specification, it is ensured that robot can enter the institute marked off smoothly
There is block and perform predetermined registration operation, it is achieved the comprehensive covering to zone of action.
The technical scheme of the disclosure can apply to various forms of robot 100, thus helps to optimize robot 100
Block divides, it is achieved all standing to zone of action.Below as a example by robot 100 is as autonomous cleaning devices, in the disclosure
The block of control system 130 divides logic and is described in detail, to help to understand the technical scheme of the disclosure.
Fig. 7 is to control, according to a kind of of the disclosure one exemplary embodiment, the flow process that robot realizes the method for autonomous cleaning
Figure.As it is shown in fig. 7, the method may comprise steps of:
In a step 702, robot 100 scanning obtains cleaning region.
In the present embodiment, the sensory perceptual system 120 of robot 100 can include the range units such as LDS, by detection machine
Distance between people 100 and peripheral obstacle, with the perception data that perceptually system 120 obtains；Then, control system 130
Can be according to this perception data and pre-configured instant location and map structuring (simultaneous localization and
Mapping, SLAM) algorithm generate zone of action map, i.e. SLAM map, with according to SLAM map to cleaning region (the most alive
Dynamic region) carry out block division.
In step 704, robot 100 carries out block division to cleaning region.
In the present embodiment, the control system 130 of robot 100 according to mode as shown in figure sa or figure, if by
The virtual boundary of dry dummy block and the entity border etc. of barrier in the entity border in room, room, divide in zone of action
Going out some blocks, here is omitted.
In step 706, respectively the fuselage specification of the specification of each block with robot 100 is compared；When arbitrary
When the specification of block is less than fuselage specification, proceeds to step 708, otherwise proceed to step 710.
In step 708, extension block scope.
In step 720, the block after being expanded.
In one embodiment, as shown in Figure 8, it is assumed that robot 100 divides in cleaning region and obtains block 1, block 2 and
Block 3, these three block specification in y-direction is L0, and specification in the x direction is respectively L1, L2 and L3.In order to ensure
Robot 100 can enter each block and be cleaned operation, and the specification of each block should be at least not less than robot 100
Fuselage specification；Assuming that the fuselage specification of robot 100 is diameter D, and using this fuselage specification D as the specification threshold of each block
Value, then it should be ensured that L0, L1, L2 and L3 are all not less than D.
And in a practical situation, it is assumed that L0 ＞ L2 ＞ L1 ＞ D ＞ L3, show that block 1 and block 2 are all able to ensure that and hold completely
Receive robot 100, and block 3 is due to specification L3 ＜ fuselage specification D in the x direction, causes this block 3 cannot accommodate machine completely
Device people 100, it should the scope of this block 3 is extended by the technical scheme of the disclosure.It is for instance possible to use following manner
Block is carried out range expansion:
As shown in Figure 8, block 3 is the rectangle block surrounded by summit A, B, C and D.Due to specification L3 ＜ in the x direction
Fuselage specification D, i.e. edge AD, edge BC ＜ fuselage specification D, so that be extended this block 3 in the x direction.Assuming that
It is the border of wall, i.e. zone of action at edge AB, thus block 3 needs to be extended to adjacent block 2 in the x direction.
Such as shown in Fig. 9, edge CD can be moved towards block 2 direction so that edge CD extends to C ' D ', i.e. block 3 after extension
By summit A, B, C ' and D ' surround, and block 3 specification in the x direction after extension is changed to L5 >=fuselage specification D so that expand
Block 3 after exhibition can accommodate robot 100, it is ensured that robot 100 can be cleaned operation to the block 3 after extension, makes
Robot 100 can realize all standing (including the cleaning to block scope ABCD) to cleaning region, it is to avoid stays cleaning " dead
Angle ".
In another embodiment, as shown in Figure 10, robot 100 carries out block by control system 130 to cleaning region
Divide, it is assumed that block 1, block 2 ... the specification of block 8 grade is all higher than fuselage specification D of robot 100, and summit E, F and G
The block 9 surrounded the first specification in the y-direction is d1, the second specification in the x-direction is the fuselage rule that d2 is respectively less than robot 100
Lattice D, then by following manner, this block 9 can be extended:
When the specification (the such as first specification d1, the second specification d2) of either block (the such as block 9 shown in Figure 10) is less than
When presetting specification (fuselage specification D of such as robot 100), if any side of this either block is along the border being positioned at zone of action
(the left side edge EF of such as block 9 is positioned at the left margin of zone of action), then control system 130 is arbitrary with this of this either block
Any one end points (such as end points E or end points F) at edge is starting point, respectively along the first party belonging to the border of this zone of action
To (such as y direction) and the second direction (such as x direction) of first direction as described in being perpendicular to, towards adjacent block (on the right side of such as block 9
Block 6, top-right block 7, bottom-right block 8 etc.) be extended so that this either block be expanded after specification not
Less than described default specification.
As shown in Figure 10, the edge EF of block 9 partially overlaps with the left margin existence in cleaning region, thus control system
130 can be using at least one end points in this edge EF as starting point, i.e. by as starting point at least one of E point and F point, and by
This is extended respectively towards the y direction belonging to above-mentioned left margin and the x direction being perpendicular to y direction.
In y-direction: as shown in figure 11, it is assumed that with E point as starting point, can be in the y-direction towards the lower section extension of E point so that
Edge EF expands to edge EF ', and specification d4 of this edge EF ' >=fuselage specification D；Or, as shown in figure 12, with E point for rising
During point, it is also possible to expanding over towards E point in the y-direction so that certain edges thereof expands to edge E ' F, and the rule of this edge E ' F along EF
Lattice d5 >=fuselage specification D；Or, as shown in figure 13, can be respectively with E point and F point as starting point, the most respectively towards on E point
Extend below side, F point so that certain edges thereof expands to edge E ' F ', and specification d6 of this edge E ' F ' >=fuselage specification D along EF.
Certainly, the extension on y direction can also be using F point as starting point.So, the embodiment shown in Figure 11 it is also understood that
For: the lower section towards F point extends in the y-direction so that edge EF expands to edge EF '；Embodiment shown in Figure 12 it is also understood that
For: expanding over towards F point in the y-direction so that edge EF expands to edge E ' F.
In the x direction: as shown in figure 11, using by E point as a example by starting point.Owing to E point is positioned at the left margin in cleaning region
On, thus E point is merely able to towards right extension in the x-direction, such as extends at M point so that the block scope after extension is in x direction
On specification be d3 >=fuselage specification D1.Embodiment shown in Figure 12-13 is similar to, and here is omitted.
So, as a example by Figure 11.By extension in y-direction so that block 9 specification in y-direction is extended by d2
For d4, by extension in the x direction so that block 9 specification in the x direction is expanded to d3 by d1, then with E point for rising
Point, can form corresponding rectangular area, i.e. by block 9 by triangle using d3, d4 as the length of side of the block scope after extension
Region EFG expands to rectangular extent EF after the extension shown in Figure 11 ' NM, as the block 9 after extension.
In step 712, adjacent block is adjusted.
In the present embodiment, when block scope being extended due to control system 130, will be formed corresponding to adjacent block
Overlapping region, the overlapping region CDD ' C ' that such as block shown in Fig. 93 is formed with block 2, the block 9 shown in Figure 11 is respectively
Overlapping region EGJ, GJMK and FGKNF formed with difference 6, block 7 and block 8 '.
In the related, control system 130, when performing block and dividing, is disposed adjacent between each block, Bu Huicun
In overlapping region.Therefore, the overlapping region produced for the application, control system 130 can be from the district being performed extension process
The adjacent block of block is removed overlapping region, then be equivalent to robot 100 and whole cleaning region is completed a clean operation,
And do not exist and repeat cleaning.As a example by Fig. 9.Block 2 is in the range of CDPQ, and owing to the specification of block 3 is less than robot 100
Fuselage specification D, thus block 3 extends scope CDD in block 2 ' C ' so that the scope of block 3 is expanded to ABC ' by ABCD
D ', then form overlapping region CDD ' C ' between block 2 and block 3.So, processing mode based on step 712, control system
130 can remove this overlapping region CDD ' C ' from block 2 so that the scope of block 2 is contracted to C ' D ' PQ from CDPQ.
Certainly, step 712 not necessarily, even if the overlapping region retained between all blocks 2 as shown in Figure 9, block 3,
Jin Huishi robot 100 performs twice clean operation to this overlapping region, can't affect the cleaning operation of its entirety.Such as,
Control system 130 can by extension after block be labeled as special block, then follow-up control robot 100 at each block
During interior execution clean operation, this special block may indicate that robot 100 can repeat cleaning behaviour in this special block
Make.Especially, control system 130 when performing step 712 it should be ensured that the specification of adjacent block is not less than fuselage specification, such as
It is necessary to ensure that L4 >=fuselage specification D in fig .9, the most should not remove and be expanded the part taken.
Similarly, in the embodiment shown in Figure 14, it is also possible to block 6, block 7 and block 8 etc. as adjacent block
Being adjusted, to eliminate the overlapping region between block 9, here is omitted.
The embodiment of the method realizing autonomous manipulation with aforesaid control robot is corresponding, and the disclosure additionally provides control
Robot realizes the embodiment of the device of autonomous manipulation.
Figure 15 is to realize the device block diagram of autonomous manipulation according to a kind of robot that controls shown in an exemplary embodiment.Ginseng
According to Figure 15, this device includes determining unit 1502, division unit 1504 and processing unit 1506.
Determine unit 1502, be configured to determine that the zone of action of described robot；
Division unit 1504, is configured to described zone of action is divided into multiple block；
Processing unit 1506, is configured to process the plurality of block, and the specification making the block after process is the least
In default specification, so that described robot can perform predetermined registration operation in the plurality of block.
Optionally, when the artificial autonomous cleaning devices of described machine, described zone of action is described autonomous cleaning devices
Cleaning region, described predetermined registration operation is cleaning action.
As shown in figure 16, Figure 16 is to realize autonomous manipulation according to the another kind of robot that controls shown in an exemplary embodiment
The block diagram of device, this embodiment is on the basis of aforementioned embodiment illustrated in fig. 15, and processing unit 1506 may include that extension
Unit 1506A.
Extension subelement 1506A, when being configured as the specification of described either block less than described default specification, by described
Either block is towards adjacent block spreading range, so that the specification after described either block is expanded is not less than described default rule
Lattice.
As shown in figure 17, Figure 17 is to realize autonomous manipulation according to the another kind of robot that controls shown in an exemplary embodiment
The block diagram of device, this embodiment is on the basis of aforementioned embodiment illustrated in fig. 16, and this device can also include: arranges unit
1508。
Unit 1508 is set, the block being expanded process is set to the block of the described predetermined registration operation of repeatable execution.
About the device in above-described embodiment, wherein modules performs the concrete mode of operation in relevant the method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
For device embodiment, owing to it corresponds essentially to embodiment of the method, so relevant part sees method in fact
The part executing example illustrates.Device embodiment described above is only schematically, wherein said as separating component
The unit illustrated can be or may not be physically separate, and the parts shown as unit can be or can also
It not physical location, i.e. may be located at a place, or can also be distributed on multiple NE.Can be according to reality
Need to select some or all of module therein to realize the purpose of disclosure scheme.Those of ordinary skill in the art are not paying
In the case of going out creative work, i.e. it is appreciated that and implements.
Accordingly, the disclosure also provides for a kind of robot that controls and realizes the device of autonomous manipulation, including: processor；For
The memorizer of storage processor executable；Wherein, described processor is configured to: determine the behaviour area of described robot
Territory；Described zone of action is divided into multiple block；The plurality of block is processed, makes the specification of the block after process not
Less than presetting specification, so that described robot can perform predetermined registration operation in the plurality of block.
Accordingly, the disclosure also provides for a kind of robot, and described robot includes memorizer, and one or one
Above program, one of them or more than one program is stored in memorizer, and be configured to by one or one with
Upper processor performs one or more than one program comprises the instruction for carrying out following operation: determine described robot
Zone of action；Described zone of action is divided into multiple block；The plurality of block is processed, makes the block after process
Specification not less than preset specification so that described robot can perform predetermined registration operation in the plurality of block.
Figure 18 is according to a kind of device realizing autonomous manipulation for controlling robot shown in an exemplary embodiment
The block diagram of 1800.Such as, device 1800 can be robot, such as the autonomous cleaning devices such as sweeping robot, floor-mopping robot
Deng.
With reference to Figure 18, device 1800 can include following one or more assembly: processes assembly 1802, memorizer 1804,
Power supply module 1806, multimedia groupware 1808, audio-frequency assembly 1810, the interface 1812 of input/output (I/O), sensor cluster
1814, and communications component 1816.
Process assembly 1802 and generally control the integrated operation of device 1800, such as with display, call, data communication,
The operation that camera operation and record operation are associated.Process assembly 1802 and can include that one or more processor 1820 performs
Instruction, to complete all or part of step of above-mentioned method.Additionally, process assembly 1802 can include one or more mould
Block, it is simple to process between assembly 1802 and other assemblies is mutual.Such as, process assembly 1802 and can include multi-media module,
With facilitate multimedia groupware 1808 and process between assembly 1802 mutual.
Memorizer 1804 is configured to store various types of data to support the operation at device 1800.These data
Example include on device 1800 operation any application program or the instruction of method, contact data, telephone book data,
Message, picture, video etc..Memorizer 1804 can by any kind of volatibility or non-volatile memory device or they
Combination realizes, such as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM), erasable can
Program read-only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory
Reservoir, disk or CD.
The various assemblies that power supply module 1806 is device 1800 provide electric power.Power supply module 1806 can include power management
System, one or more power supplys, and other generate, manage and distribute, with for device 1800, the assembly that electric power is associated.
The screen of one output interface of offer that multimedia groupware 1808 is included between described device 1800 and user.?
In some embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel,
Screen may be implemented as touch screen, to receive the input signal from user.Touch panel includes that one or more touch passes
Sensor is with the gesture on sensing touch, slip and touch panel.Described touch sensor can not only sense touch or slide dynamic
The border made, but also detect the persistent period relevant to described touch or slide and pressure.In certain embodiments, many
Media component 1808 includes a front-facing camera and/or post-positioned pick-up head.When device 1800 is in operator scheme, such as shooting mould
When formula or video mode, front-facing camera and/or post-positioned pick-up head can receive the multi-medium data of outside.Each preposition shooting
Head and post-positioned pick-up head can be a fixing optical lens system or have focal length and optical zoom ability.
Audio-frequency assembly 1810 is configured to output and/or input audio signal.Such as, audio-frequency assembly 1810 includes a wheat
Gram wind (MIC), when device 1800 is in operator scheme, during such as call model, logging mode and speech recognition mode, mike quilt
It is configured to receive external audio signal.The audio signal received can be further stored at memorizer 1804 or via communication
Assembly 1816 sends.In certain embodiments, audio-frequency assembly 1810 also includes a speaker, is used for exporting audio signal.
I/O interface 1812 provides interface, above-mentioned peripheral interface module for processing between assembly 1802 and peripheral interface module
Can be keyboard, put striking wheel, button etc..These buttons may include but be not limited to: home button, volume button, start button and
Locking press button.
Sensor cluster 1814 includes one or more sensor, for providing the state of various aspects to comment for device 1800
Estimate.Such as, what sensor cluster 1814 can detect device 1800 opens/closed mode, the relative localization of assembly, such as institute
Stating display and keypad that assembly is device 1800, sensor cluster 1814 can also detect device 1800 or device 1,800 1
The position change of individual assembly, the presence or absence that user contacts with device 1800, device 1800 orientation or acceleration/deceleration and dress
Put the variations in temperature of 1800.Sensor cluster 1814 can include proximity transducer, is configured to do not having any physics
The existence of object near detection during contact.Sensor cluster 1814 can also include optical sensor, as CMOS or ccd image sense
Device, for using in imaging applications.In certain embodiments, this sensor cluster 1814 can also include acceleration sensing
Device, gyro sensor, Magnetic Sensor, pressure transducer or temperature sensor.
Communications component 1816 is configured to facilitate the communication of wired or wireless mode between device 1800 and other equipment.Dress
Put 1800 and can access wireless network based on communication standard, such as WiFi, 2G or 3G, or combinations thereof.Exemplary at one
In embodiment, broadcast singal or broadcast that communications component 1816 receives from external broadcasting management system via broadcast channel are relevant
Information.In one exemplary embodiment, described communications component 1816 also includes near-field communication (NFC) module, to promote short distance
Communication.Such as, can be based on RF identification (RFID) technology in NFC module, Infrared Data Association (IrDA) technology, ultra broadband
(UWB) technology, bluetooth (BT) technology and other technologies realize.
In the exemplary embodiment, device 1800 can be by one or more application specific integrated circuits (ASIC), numeral
Signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components realize, be used for performing said method.
In the exemplary embodiment, a kind of non-transitory computer-readable recording medium including instruction, example are additionally provided
As included the memorizer 1804 of instruction, above-mentioned instruction can have been performed said method by the processor 1820 of device 1800.Example
If, described non-transitory computer-readable recording medium can be ROM, random access memory (RAM), CD-ROM, tape, soft
Dish and optical data storage devices etc..
Those skilled in the art, after considering description and putting into practice disclosure disclosed herein, will readily occur to its of the disclosure
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modification, purposes or
Person's adaptations is followed the general principle of the disclosure and includes the undocumented common knowledge in the art of the disclosure
Or conventional techniques means.Description and embodiments is considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the disclosure is not limited to precision architecture described above and illustrated in the accompanying drawings, and
And various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.
Claims (15)
1. a robot with autonomous manipulation function, it is characterised in that including:
Sensory perceptual system, described sensory perceptual system is for carrying out perception to the surrounding of robot；
Control system, described control system obtains the perception data of described sensory perceptual system, according to described perception data and preset
Algorithm determines the zone of action of described robot；Described zone of action comprises multiple block, and described control system can be to described
Multiple blocks process, and make the specification of the block after process be not less than and preset specification, so that described robot can be described
Predetermined registration operation is performed in block after process.
Robot the most according to claim 1, it is characterised in that described sensory perceptual system includes: range unit, is used for detecting
Distance between described robot and peripheral obstacle；Wherein, the distance that described range unit records is by as described perception number
According to.
Robot the most according to claim 2, it is characterised in that described Predistribution Algorithm includes immediately positioning and map structuring
Algorithm.
Robot the most according to claim 1, it is characterised in that described control system uses following manner to the plurality of
Block processes:
When the specification of either block is less than described default specification, by described either block towards adjacent block spreading range, with
Specification after described either block is expanded is not less than described default specification.
Robot the most according to claim 4, it is characterised in that the block being expanded process is arranged by described control system
Block for the described predetermined registration operation of repeatable execution.
6. according to the robot according to any one of claim 1-5, it is characterised in that set when described machine the most independently cleans
Time standby, described zone of action is the cleaning region of described autonomous cleaning devices, and described predetermined registration operation is cleaning action.
7. one kind controls the method that robot realizes autonomous manipulation, it is characterised in that including:
Determine the zone of action of described robot；
Described zone of action is divided into multiple block；
The plurality of block is processed, makes the specification of the block after process be not less than and preset specification, so that described robot
Predetermined registration operation can be performed in block after the treatment.
Method the most according to claim 7, it is characterised in that described the plurality of block is processed, including:
When the specification of either block is less than described default specification, by described either block towards adjacent block spreading range, with
Specification after described either block is expanded is not less than described default specification.
Method the most according to claim 8, it is characterised in that also include:
The block being expanded process is set to the block of the described predetermined registration operation of repeatable execution.
10. according to the method according to any one of claim 7-9, it is characterised in that set when described machine the most independently cleans
Time standby, described zone of action is the cleaning region of described autonomous cleaning devices, and described predetermined registration operation is cleaning action.
11. 1 kinds control robot and realize the device of autonomous manipulation, it is characterised in that including:
Determine unit, determine the zone of action of described robot；
Division unit, is divided into multiple block by described zone of action；
Processing unit, processes the plurality of block, makes the specification of the block after process be not less than and presets specification, so that institute
State robot and can perform predetermined registration operation in block after the treatment.
12. devices according to claim 11, it is characterised in that described processing unit includes:
Extension subelement, when the specification of either block is less than described default specification, by described either block towards adjacent block
Spreading range, so that the specification after described either block is expanded is not less than described default specification.
13. devices according to claim 12, it is characterised in that also include:
Unit is set, the block being expanded process is set to the block of the described predetermined registration operation of repeatable execution.
14. according to the device according to any one of claim 11-13, it is characterised in that when described machine the most independently cleans
During equipment, described zone of action is the cleaning region of described autonomous cleaning devices, and described predetermined registration operation is cleaning action.
15. 1 kinds control robot and realize the device of autonomous manipulation, it is characterised in that including:
Processor；
For storing the memorizer of processor executable；
Wherein, described processor is configured to:
Determine the zone of action of described robot；
Described zone of action is divided into multiple block；
The plurality of block is processed, makes the specification of the block after process be not less than and preset specification, so that described robot
Predetermined registration operation can be performed in block after the treatment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610678042.XA CN106175606B (en) | 2016-08-16 | 2016-08-16 | The method, apparatus that robot and its realization independently manipulate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610678042.XA CN106175606B (en) | 2016-08-16 | 2016-08-16 | The method, apparatus that robot and its realization independently manipulate |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106175606A true CN106175606A (en) | 2016-12-07 |
| CN106175606B CN106175606B (en) | 2019-02-19 |
Family
ID=57522907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610678042.XA Active CN106175606B (en) | 2016-08-16 | 2016-08-16 | The method, apparatus that robot and its realization independently manipulate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106175606B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107397510A (en) * | 2017-08-22 | 2017-11-28 | 安徽风向标清洁设备有限公司 | Sweeper |
| CN107684401A (en) * | 2017-09-25 | 2018-02-13 | 北京石头世纪科技有限公司 | The control method and control device of intelligent cleaning equipment |
| CN107752927A (en) * | 2017-11-17 | 2018-03-06 | 北京奇虎科技有限公司 | Block method of adjustment, device and robot for clean robot |
| CN107837044A (en) * | 2017-11-17 | 2018-03-27 | 北京奇虎科技有限公司 | Subregion clean method, device and the robot of clean robot |
| CN107898393A (en) * | 2017-11-17 | 2018-04-13 | 北京奇虎科技有限公司 | Block method of adjustment, device and robot for clean robot |
| CN107913039A (en) * | 2017-11-17 | 2018-04-17 | 北京奇虎科技有限公司 | Block system of selection, device and robot for clean robot |
| CN108214492A (en) * | 2017-12-29 | 2018-06-29 | 北京视觉世界科技有限公司 | Clean clean method, device, computer equipment and the storage medium in region |
| WO2018228072A1 (en) * | 2017-06-14 | 2018-12-20 | 深圳乐动机器人有限公司 | Robot and robot system |
| CN109077672A (en) * | 2018-09-28 | 2018-12-25 | 北京奇虎科技有限公司 | A kind of method and device of sweeping robot selection block |
| CN109744946A (en) * | 2017-11-08 | 2019-05-14 | 日立空调·家用电器株式会社 | Autonomous formula electric vacuum cleaner |
| CN109932726A (en) * | 2019-04-18 | 2019-06-25 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
| CN111722630A (en) * | 2020-06-30 | 2020-09-29 | 深圳市银星智能科技股份有限公司 | Partition boundary extension method, device, equipment and storage medium of cleaning robot |
| WO2020200282A1 (en) * | 2019-04-02 | 2020-10-08 | 北京石头世纪科技股份有限公司 | Robot working area map constructing method and apparatus, robot, and medium |
| CN113219995A (en) * | 2021-06-04 | 2021-08-06 | 深圳飞鼠动力科技有限公司 | Path planning method and cleaning robot |
| JP2023502406A (en) * | 2019-11-18 | 2023-01-24 | 北京石頭世紀科技股▲ふん▼有限公司 | Camera device and cleaning robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101126645A (en) * | 2006-08-18 | 2008-02-20 | 三星电子株式会社 | Method of dividing coverage area for robot and device thereof |
| KR20090085933A (en) * | 2008-02-05 | 2009-08-10 | 웅진코웨이주식회사 | Method of controlling a robot cleaner |
| CN102727144A (en) * | 2011-03-31 | 2012-10-17 | 泰怡凯电器(苏州)有限公司 | Multifunctional robot and control device and method of automatically-separated functional module of multifunctional robot |
| CN103251358A (en) * | 2012-02-16 | 2013-08-21 | 恩斯迈电子(深圳)有限公司 | Control method of sweeping robot |
| CN105094125A (en) * | 2014-05-09 | 2015-11-25 | 金宝电子工业股份有限公司 | Indoor robot and positioning method thereof |
-
2016
- 2016-08-16 CN CN201610678042.XA patent/CN106175606B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101126645A (en) * | 2006-08-18 | 2008-02-20 | 三星电子株式会社 | Method of dividing coverage area for robot and device thereof |
| EP1903413A3 (en) * | 2006-08-18 | 2013-11-20 | Samsung Electronics Co., Ltd. | Method of dividing coverage area for robot and device thereof |
| KR20090085933A (en) * | 2008-02-05 | 2009-08-10 | 웅진코웨이주식회사 | Method of controlling a robot cleaner |
| CN102727144A (en) * | 2011-03-31 | 2012-10-17 | 泰怡凯电器(苏州)有限公司 | Multifunctional robot and control device and method of automatically-separated functional module of multifunctional robot |
| CN103251358A (en) * | 2012-02-16 | 2013-08-21 | 恩斯迈电子(深圳)有限公司 | Control method of sweeping robot |
| CN105094125A (en) * | 2014-05-09 | 2015-11-25 | 金宝电子工业股份有限公司 | Indoor robot and positioning method thereof |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018228072A1 (en) * | 2017-06-14 | 2018-12-20 | 深圳乐动机器人有限公司 | Robot and robot system |
| CN107397510A (en) * | 2017-08-22 | 2017-11-28 | 安徽风向标清洁设备有限公司 | Sweeper |
| CN107684401A (en) * | 2017-09-25 | 2018-02-13 | 北京石头世纪科技有限公司 | The control method and control device of intelligent cleaning equipment |
| CN109744946A (en) * | 2017-11-08 | 2019-05-14 | 日立空调·家用电器株式会社 | Autonomous formula electric vacuum cleaner |
| CN107837044B (en) * | 2017-11-17 | 2021-01-08 | 北京奇虎科技有限公司 | Partitioned cleaning method and device of cleaning robot and robot |
| CN107913039B (en) * | 2017-11-17 | 2020-11-13 | 北京奇虎科技有限公司 | Block selection method and device for cleaning robot and robot |
| CN107898393A (en) * | 2017-11-17 | 2018-04-13 | 北京奇虎科技有限公司 | Block method of adjustment, device and robot for clean robot |
| CN107913039A (en) * | 2017-11-17 | 2018-04-17 | 北京奇虎科技有限公司 | Block system of selection, device and robot for clean robot |
| CN107837044A (en) * | 2017-11-17 | 2018-03-27 | 北京奇虎科技有限公司 | Subregion clean method, device and the robot of clean robot |
| CN107752927A (en) * | 2017-11-17 | 2018-03-06 | 北京奇虎科技有限公司 | Block method of adjustment, device and robot for clean robot |
| CN108214492A (en) * | 2017-12-29 | 2018-06-29 | 北京视觉世界科技有限公司 | Clean clean method, device, computer equipment and the storage medium in region |
| CN109077672A (en) * | 2018-09-28 | 2018-12-25 | 北京奇虎科技有限公司 | A kind of method and device of sweeping robot selection block |
| WO2020200282A1 (en) * | 2019-04-02 | 2020-10-08 | 北京石头世纪科技股份有限公司 | Robot working area map constructing method and apparatus, robot, and medium |
| CN109932726B (en) * | 2019-04-18 | 2020-08-18 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
| CN109932726A (en) * | 2019-04-18 | 2019-06-25 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
| JP2023502406A (en) * | 2019-11-18 | 2023-01-24 | 北京石頭世紀科技股▲ふん▼有限公司 | Camera device and cleaning robot |
| JP7433430B2 (en) | 2019-11-18 | 2024-02-19 | 北京石頭世紀科技股▲ふん▼有限公司 | Camera equipment and cleaning robot |
| CN111722630A (en) * | 2020-06-30 | 2020-09-29 | 深圳市银星智能科技股份有限公司 | Partition boundary extension method, device, equipment and storage medium of cleaning robot |
| CN111722630B (en) * | 2020-06-30 | 2024-02-02 | 深圳银星智能集团股份有限公司 | Partition boundary extension method, device and equipment of cleaning robot and storage medium |
| CN113219995A (en) * | 2021-06-04 | 2021-08-06 | 深圳飞鼠动力科技有限公司 | Path planning method and cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106175606B (en) | 2019-02-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106175606B (en) | The method, apparatus that robot and its realization independently manipulate | |
| CN205671994U (en) | Automatic cleaning equipment | |
| CN109947109B (en) | Robot working area map construction method and device, robot and medium | |
| CN106239517B (en) | The method, apparatus that robot and its realization independently manipulate | |
| CN114847803B (en) | Positioning method and device of robot, electronic equipment and storage medium | |
| CN111990929B (en) | Obstacle detection method and device, self-walking robot and storage medium | |
| CN105982625B (en) | Automatic cleaning equipment and cleaning assembly thereof | |
| CN110376934B (en) | Cleaning robot, cleaning robot control method and terminal control method | |
| TW202110378A (en) | Cleaning robot and control method thereof | |
| TW202110379A (en) | Cleaning robot and control method thereof | |
| WO2021008439A1 (en) | Automatic cleaning device control method and apparatus, device and medium | |
| CN106226755B (en) | Robot | |
| CN109920424A (en) | Robot voice control method and device, robot and medium | |
| CN110051289A (en) | Robot voice control method and device, robot and medium | |
| CN211022482U (en) | Cleaning robot | |
| CN109932726A (en) | Robot ranging calibration method and device, robot and medium | |
| CN211674019U (en) | Robot recharges seat and robot system | |
| US20240029298A1 (en) | Locating method and apparatus for robot, and storage medium | |
| CN109920425A (en) | Robot voice control method and device, robot and medium | |
| US20210030234A1 (en) | Mobile robot | |
| CN208207201U (en) | robot | |
| CN217365667U (en) | Automatic cleaning equipment | |
| CN210673215U (en) | Multi-light-source detection robot | |
| CN112244705B (en) | Intelligent cleaning device, control method and computer storage medium | |
| CN210673216U (en) | Light filtering type robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 100085 Huarun Qingcai Street 68, Haidian District, Beijing, two stage, 9 floor, 01 rooms. Applicant after: BEIJING XIAOMI MOBILE SOFTWARE Co.,Ltd. Applicant after: Beijing Roborock Technology Co.,Ltd. Address before: 100085 Huarun Qingcai Street 68, Haidian District, Beijing, two stage, 9 floor, 01 rooms. Applicant before: BEIJING XIAOMI MOBILE SOFTWARE Co.,Ltd. Applicant before: BEIJING ROCKROBO TECHNOLOGY Co.,Ltd. |