CN107305377A - A kind of automatic drawing robot of indoor map and method for drafting - Google Patents
A kind of automatic drawing robot of indoor map and method for drafting Download PDFInfo
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- CN107305377A CN107305377A CN201610244608.8A CN201610244608A CN107305377A CN 107305377 A CN107305377 A CN 107305377A CN 201610244608 A CN201610244608 A CN 201610244608A CN 107305377 A CN107305377 A CN 107305377A
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- robot
- indoor map
- drawing robot
- automatic
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
Abstract
A kind of automatic drawing robot of indoor map and method for drafting, including：Multiple characteristic points are positioned indoors；Coordinate system is set up according to the multiple characteristic point；A predeterminated position in coordinate system is set to the origin of coordinates；Drawing robot is placed into setting in motion after the origin of coordinates；Drawing robot carries out drafting indoor map in motion process by standard of coordinate system.Device of the present invention, is mainly used in the products such as the automatic Pilots such as robot, unmanned plane, and concrete application scene can include：According to current geographic position information, goods, and autonomous driving vehicle scene manned in airport or market are transported from map making.
Description
Technical field
The present invention relates to a kind of automatic drawing robot of indoor map and method for drafting.
Background technology
In the prior art, it is to be directed to outdoor environment that map is drawn automatically.It is not directed to indoor environment method for drawing map.So if the drafting for carrying out indoor map is always a problem of solution required for industry.
The content of the invention
The present invention provides a kind of automatic drawing robot of indoor map, including：Robot body；Positioner, for setting an origin of coordinates indoors；Measurement module, is arranged on inside the robot body, for measuring the distance between the robot body and described positioner and angle；Computing module, is arranged on inside the robot body, for according to the distance and angle calculation track route；Drafting module, is arranged on inside the robot body, for drawing indoor map according to the track route；Power supply module, is arranged on inside the robot body, for being powered to the drawing robot；Drive module, is arranged on the robot body bottom, for driving the robot body to move.
The automatic drawing robot of above-mentioned indoor map, the positioner is the charger of the drawing robot.
The automatic drawing robot of above-mentioned indoor map, the drawing robot is moved indoors in a clockwise direction.
The automatic drawing robot of above-mentioned indoor map, the drawing robot is moved indoors in a counterclockwise direction.
The automatic drawing robot of above-mentioned indoor map, when drawing robot repeats to draw indoor map n time, n drawing result is contrasted, and exports comparing result map, and wherein n is natural number.
The automatic drawing robot of above-mentioned indoor map, different places is designated generally as barrier when n drawing result is compared.
The automatic drawing robot of above-mentioned indoor map, in addition to：
Comparison module, for comparing presently described drawing robot electricity and a predetermined threshold value, when the drawing robot electricity is less than the predetermined threshold value, charger described in the drawing robot auto-returned carries out automatic charging.
The automatic drawing robot of above-mentioned indoor map, in addition to：Generating laser, is arranged on the drawing robot body interior；Laser pickoff, is arranged on the charger internal.
The automatic drawing robot of above-mentioned indoor map, the power supply module is Eco-drive battery.
The automatic drawing robot of above-mentioned indoor map, the drive module is tracked drive.
The present invention also provides a kind of indoor map automatic drafting method, including：
One origin of coordinates is set indoors；
Drawing robot is placed on origin of coordinates setting in motion；
Track route figure is drawn according to the distance between robot and origin of coordinates and angle；
Indoor map is drawn according to the track route figure.
Above-mentioned indoor map automatic drafting method, sets an origin of coordinates to further comprise indoors：The charger of the drawing robot is set to the origin of coordinates.
Above-mentioned indoor map automatic drafting method, is placed on origin of coordinates setting in motion by drawing robot and further comprises：Drawing robot starts to move indoors in a clockwise direction.
Above-mentioned indoor map automatic drafting method, is placed on origin of coordinates setting in motion by drawing robot and further comprises：Drawing robot starts to move indoors in a counterclockwise direction.
Above-mentioned indoor map automatic drafting method, draws indoor map according to the track route figure and further comprises：When drawing robot repeats to draw indoor map n time, n drawing result is contrasted, and exports comparing result map, wherein n is natural number.
Above-mentioned indoor map automatic drafting method, carries out contrast by n drawing result and further comprises：Different places is designated generally as barrier when n drawing result is compared.
Above-mentioned indoor map automatic drafting method, draws indoor map according to the track route figure and further comprises, when the drawing robot electricity is less than predetermined threshold value, charger described in the drawing robot auto-returned carries out automatic charging.
Above-mentioned indoor map automatic drafting method, draws track route figure according to the distance between robot and origin of coordinates and angle and further comprises：
The drawing robot launches laser；
The charger receives the laser of the drawing robot transmitting；
The distance between the drawing robot and described charger and angle are calculated according to the transmitting of the laser and reception time and receiving angle.
Above-mentioned indoor map automatic drafting method, the drawing robot is powered using Eco-drive battery.
Above-mentioned indoor map automatic drafting method, the drawing robot uses crawler travelling device, for increase the drawing robot by property.
Brief description of the drawings
Fig. 1 is the schematic diagram according to the automatic drawing robot of indoor map in one embodiment of the invention.
Wherein, reference：
100：Robot
1：Robot body
2：Positioner
3：Measurement module
4：Computing module
5：Drafting module
6：Power supply module
7：Drive module
Embodiment
Fig. 1 is the schematic diagram according to the automatic drawing robot of indoor map in one embodiment of the invention.Fig. 1 is refer to, in the present embodiment, the automatic drawing robot 100 of indoor map includes：Robot body 1, positioner 2, measurement module 3, computing module 4, drafting module 5, power supply module 6, drive module 7.Wherein
Positioner 2 is used to set an origin of coordinates indoors.Measurement module 3 is arranged on inside the robot body 1, for measuring the distance between the robot body 1 and described positioner 2 and angle.Computing module 4, is arranged on inside the robot body 1, for according to the distance and angle calculation track route.Drafting module 5 is arranged on inside the robot body 1, for drawing indoor map according to the track route.Power supply module 6 is arranged on inside the robot body 1, for being powered to the drawing robot.Drive module 7 is arranged on the bottom of robot body 1, for driving the robot body 1 to move.
For example, when starting to draw, charger is connected at fixed power source, and is remained stationary as.The origin of coordinates is used as using charger.Drawing robot is placed at charger and charged.When charged beginning map making, drawing robot starts movement, and draws track route according to the distance between robot and charger and angle.The track route of robot is avoids indoor barrier all the time, according to the track route map making of robot.After the interior space is covered, the drafting to indoor map is completed.
As one kind selection, in the embodiment of the application one, the positioner is the charger of the drawing robot.
As one kind selection, in the embodiment of the application one, the drawing robot is moved indoors in a clockwise direction.
As one kind selection, in the embodiment of the application one, the drawing robot is moved indoors in a counterclockwise direction.
In order to improve accuracy, as one kind selection, in the embodiment of the application one, when drawing robot repeats to draw indoor map n time, n drawing result is contrasted, and exports comparing result map, wherein n is natural number.As one kind selection, in the embodiment of the application one, n drawing result is subjected to contrast and further comprised：Different places is designated generally as barrier when n drawing result is compared.
If for example, drawing robot indoor environment during map making is changed, then inaccurate situation just occurs in the map drawn.When now drawing robot repeats to render up to such as 3 times, each drawing result is compared, the position for contrasting different has been defaulted as barrier.
In order that interference and continuously automatic running need not be thought by obtaining drawing robot, and as one kind selection, in the embodiment of the application one, in addition to comparison module, for comparing presently described drawing robot electricity and a predetermined threshold value.When the drawing robot electricity is less than predetermined threshold value, charger described in the drawing robot auto-returned carries out automatic charging.
For example, setting when the electricity of robot is less than such as 10%, just auto-returned charger is charged.After fully charged, followed by progress mapping.
As one kind selection, in the embodiment of the application one, in addition to：Generating laser, is arranged on the drawing robot body interior；Laser pickoff, is arranged on the charger internal.
In order that obtaining drawing robot can continuously work, as one kind selection, in the embodiment of the application one, the power supply module is that Eco-drive battery is powered.
As long as example, under conditions of having light indoors, robot can real time charging, work down always.It need not so lose time to be charged.
As one kind selection, in the embodiment of the application one, the drive module is tracked drive.
, can be automatically by by the good drawing robot of property, it is not necessary to think mobile for example, each indoor room has when moving into one's husband's household upon marriage stone.
In the embodiment of the application one, indoor map automatic drafting method, including：
S1：One origin of coordinates is set indoors；
S2：Drawing robot is placed on origin of coordinates setting in motion；
S3：Track route figure is drawn according to the distance between robot and origin of coordinates and angle；
S4：Indoor map is drawn according to the track route figure.
As one kind selection, in the embodiment of the application one, an origin of coordinates is set to further comprise indoors：The charger of the drawing robot is set to the origin of coordinates.
For example, when starting to draw, charger is connected at fixed power source, and is remained stationary as.The origin of coordinates is used as using charger.Drawing robot is placed at charger and charged.When charged beginning map making, drawing robot starts movement, and draws track route according to the distance between robot and charger and angle.The track route of robot is avoids indoor barrier all the time, according to the track route map making of robot.After the interior space is covered, the drafting to indoor map is completed.
As one kind selection, in the embodiment of the application one, drawing robot is placed on origin of coordinates setting in motion and further comprised：Drawing robot starts to move indoors in a clockwise direction.
As one kind selection, in the embodiment of the application one, drawing robot is placed on origin of coordinates setting in motion and further comprised：Drawing robot starts to move indoors in a counterclockwise direction.
In order to improve accuracy, as one kind selection, in the embodiment of the application one, drawing robot carries out drafting indoor map by standard of coordinate system in motion process and further comprised：When drawing robot repeats to draw indoor map n time, n drawing result is contrasted, and exports comparing result map, wherein n is natural number.As one kind selection, in the embodiment of the application one, n drawing result is subjected to contrast and further comprised：Different places is designated generally as barrier when n drawing result is compared.
If for example, drawing robot indoor environment during map making is changed, then inaccurate situation just occurs in the map drawn.When now drawing robot repeats to render up to such as 3 times, each drawing result is compared, the position for contrasting different has been defaulted as barrier.
In order that interference and continuously automatic running need not be thought by obtaining drawing robot, it is used as one kind selection, in the embodiment of the application one, indoor map is drawn according to the track route figure to further comprise, when the drawing robot electricity is less than predetermined threshold value, charger described in the drawing robot auto-returned carries out automatic charging.
For example, setting when the electricity of robot is less than such as 10%, just auto-returned charger is charged.After fully charged, followed by progress mapping.
As one kind selection, in the embodiment of the application one, further comprised according to the distance between robot and origin of coordinates and angle drafting track route figure：The drawing robot launches laser；The charger receives the laser of the drawing robot transmitting；The distance between the drawing robot and described charger and angle are calculated according to the transmitting of the laser and reception time and receiving angle.
In order that obtaining drawing robot can continuously work, as one kind selection, in the embodiment of the application one, the drawing robot is powered using Eco-drive battery.
As long as example, under conditions of having light indoors, robot can real time charging, work down always.It need not so lose time to be charged.
As one kind selection, in the embodiment of the application one, the drawing robot uses crawler travelling device, and property is passed through due to the increase drawing robot.
, can be automatically by by the good drawing robot of property, it is not necessary to think mobile for example, each indoor room has when moving into one's husband's household upon marriage stone.
Indoor map method for drafting provided herein, it is not necessary to outer location equipment, only can complete the drafting to indoor map with charger in itself by robot, save cost.
In several embodiments provided herein, it should be understood that disclosed method, device and equipment, it can realize by another way.For example, device embodiment described above is only schematical, for example, the division of the unit, it is only a kind of division of logic function, there can be other dividing mode when actually realizing, such as multiple units or component can combine or be desirably integrated into another system, or some features can be ignored, or do not perform.Another, it, by some communication interfaces, the INDIRECT COUPLING or communication connection of device or unit, can be electrical, machinery or other forms that shown or discussed coupling or direct-coupling or communication connection each other, which can be,.
The unit illustrated as separating component can be or may not be physically separate, and the part shown as unit can be or may not be physical location, you can with positioned at a place, or can also be distributed on multiple NEs.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.In addition, each functional unit in each of the invention embodiment can be integrated in a processing unit or unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized using in the form of SFU software functional unit and as independent production marketing or in use, can be stored in a computer read/write memory medium.Understood based on such, the part or the part of the technical scheme that technical scheme substantially contributes to prior art in other words can be embodied in the form of software product, the computer software product is stored in a storage medium, including some orders are to cause a computer equipment（Can be personal computer, server, or network equipment etc.）Perform all or part of step of each embodiment methods described of the invention.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage（ROM, Read-Only Memory）, random access memory（RAM, Random Access
Memory）, magnetic disc or CD etc. are various can be with the medium of store program codes.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.A variety of modifications to these embodiments be will be apparent for those skilled in the art, and generic principles defined herein can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and is to fit to the most wide scope consistent with features of novelty with principles disclosed herein.
Claims (20)
1. a kind of automatic drawing robot of indoor map, it is characterised in that including：
Robot body；
Positioner, for setting an origin of coordinates indoors；
Measurement module, is arranged on inside the robot body, for measuring the distance between the robot body and described positioner and angle；
Computing module, is arranged on inside the robot body, for according to the distance and angle calculation track route；
Drafting module, is arranged on inside the robot body, for drawing indoor map according to the track route；
Power supply module, is arranged on inside the robot body, for being powered to the drawing robot；
Drive module, is arranged on the robot body bottom, for driving the robot body to move.
2. the automatic drawing robot of indoor map as claimed in claim 1, it is characterised in that the positioner is the charger of the drawing robot.
3. the automatic drawing robot of indoor map as claimed in claim 1, it is characterised in that the drawing robot is moved indoors in a clockwise direction.
4. the automatic drawing robot of indoor map as claimed in claim 1, it is characterised in that the drawing robot is moved indoors in a counterclockwise direction.
5. the automatic drawing robot of indoor map as claimed in claim 1, it is characterised in that when drawing robot repeats to draw indoor map n time, n drawing result is contrasted, and exports comparing result map, wherein n is natural number.
6. the automatic drawing robot of indoor map as claimed in claim 5, it is characterised in that different places is designated generally as barrier when n drawing result is compared.
7. the automatic drawing robot of indoor map as claimed in claim 2, it is characterised in that also include：
Comparison module, for comparing presently described drawing robot electricity and a predetermined threshold value, when the drawing robot electricity is less than the predetermined threshold value, charger described in the drawing robot auto-returned carries out automatic charging.
8. the automatic drawing robot of indoor map as claimed in claim 2, it is characterised in that also include：
Generating laser, is arranged on the drawing robot body interior；
Laser pickoff, is arranged on the charger internal.
9. the automatic drawing robot of indoor map as claimed in claim 1, it is characterised in that the power supply module is Eco-drive battery.
10. the automatic drawing robot of indoor map as claimed in claim 1, it is characterised in that the drive module is tracked drive.
11. a kind of indoor map automatic drafting method, it is characterised in that including：
One origin of coordinates is set indoors；
Drawing robot is placed on origin of coordinates setting in motion；
Track route figure is drawn according to the distance between robot and origin of coordinates and angle；
Indoor map is drawn according to the track route figure.
12. indoor map automatic drafting method as claimed in claim 11, it is characterised in that set an origin of coordinates to further comprise indoors：The charger of the drawing robot is set to the origin of coordinates.
13. indoor map automatic drafting method as claimed in claim 11, it is characterised in that drawing robot is placed on origin of coordinates setting in motion and further comprised：Drawing robot starts to move indoors in a clockwise direction.
14. indoor map automatic drafting method as claimed in claim 11, it is characterised in that drawing robot is placed on origin of coordinates setting in motion and further comprised：Drawing robot starts to move indoors in a counterclockwise direction.
15. indoor map automatic drafting method as claimed in claim 11, it is characterised in that indoor map is drawn according to the track route figure and further comprised：When drawing robot repeats to draw indoor map n time, n drawing result is contrasted, and exports comparing result map, wherein n is natural number.
16. indoor map automatic drafting method as claimed in claim 15, it is characterised in that n drawing result is subjected to contrast and further comprised：Different places is designated generally as barrier when n drawing result is compared.
17. indoor map automatic drafting method as claimed in claim 12, it is characterized in that, indoor map is drawn according to the track route figure to further comprise, when the drawing robot electricity is less than predetermined threshold value, charger described in the drawing robot auto-returned carries out automatic charging.
18. indoor map automatic drafting method as claimed in claim 12, it is characterised in that draw track route figure according to the distance between robot and origin of coordinates and angle and further comprise：
The drawing robot launches laser；
The charger receives the laser of the drawing robot transmitting；
The distance between the drawing robot and described charger and angle are calculated according to the transmitting of the laser and reception time and receiving angle.
19. indoor map automatic drafting method as claimed in claim 11, it is characterised in that the drawing robot is powered using Eco-drive battery.
20. indoor map automatic drafting method as claimed in claim 11, it is characterised in that the drawing robot uses crawler travelling device, for increase the drawing robot by property.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610244608.8A CN107305377A (en) | 2016-04-19 | 2016-04-19 | A kind of automatic drawing robot of indoor map and method for drafting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610244608.8A CN107305377A (en) | 2016-04-19 | 2016-04-19 | A kind of automatic drawing robot of indoor map and method for drafting |
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| CN107305377A true CN107305377A (en) | 2017-10-31 |
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| CN105334858A (en) * | 2015-11-26 | 2016-02-17 | 江苏美的清洁电器股份有限公司 | Floor sweeping robot and indoor map establishing method and device thereof |
| CN105425801A (en) * | 2015-12-10 | 2016-03-23 | 长安大学 | Intelligent cleaning robot based on advanced path programming technology and cleaning method thereof |
| CN105491534A (en) * | 2016-01-23 | 2016-04-13 | 深圳市爱华兴模具有限公司 | Household robot positioning algorithm realization method |
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- 2016-04-19 CN CN201610244608.8A patent/CN107305377A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104188598A (en) * | 2014-09-15 | 2014-12-10 | 湖南格兰博智能科技有限责任公司 | Automatic ground cleaning robot |
| CN105043396A (en) * | 2015-08-14 | 2015-11-11 | 北京进化者机器人科技有限公司 | Method and system for indoor map self-establishment of mobile robot |
| CN105116378A (en) * | 2015-09-30 | 2015-12-02 | 长沙开山斧智能科技有限公司 | Wireless and ultrasonic composite location system and location method for wireless and ultrasonic composite location system |
| CN105334858A (en) * | 2015-11-26 | 2016-02-17 | 江苏美的清洁电器股份有限公司 | Floor sweeping robot and indoor map establishing method and device thereof |
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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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