CN107329476A - A kind of room topology map construction method, system, device and sweeping robot - Google Patents
A kind of room topology map construction method, system, device and sweeping robot Download PDFInfo
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- CN107329476A CN107329476A CN201710651820.0A CN201710651820A CN107329476A CN 107329476 A CN107329476 A CN 107329476A CN 201710651820 A CN201710651820 A CN 201710651820A CN 107329476 A CN107329476 A CN 107329476A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 70
- 238000010276 construction Methods 0.000 title claims abstract description 25
- 238000005516 engineering process Methods 0.000 claims abstract description 16
- 238000004140 cleaning Methods 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 19
- 230000015654 memory Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 230000005055 memory storage Effects 0.000 claims description 2
- 238000005406 washing Methods 0.000 claims 1
- 238000003384 imaging method Methods 0.000 description 6
- 238000005457 optimization Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 231100000572 poisoning Toxicity 0.000 description 4
- 230000000607 poisoning effect Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000004549 pulsed laser deposition Methods 0.000 description 1
Classifications
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The present invention provides a kind of room topology map construction method, system, device and sweeping robot, comprises the following steps：Obtain the gateway characteristic information in room；Obtain characteristic point at the top of gateway inner room；Obtain characteristic point at the top of the outer house of gateway；Based on characteristic point at the top of room outside characteristic point at the top of the gateway characteristic information, gateway inner room and gateway, gateway and room are recognized using vSLAM technologies, and build the topological map in room.Room topology map construction method, system, device and the sweeping robot of the present invention being capable of the gateway characteristic information based on room, characteristic point at the top of room inside and outside gateway, the topological map in room is built using vSLAM technologies, and the path planning of sweeping robot is realized based on the topological map, greatly improve the operating efficiency of sweeping robot.
Description
Technical field
The present invention relates to the technical field of data processing, more particularly to a kind of room topology map construction method, system,
Device and sweeping robot.
Background technology
With the raising of quality of life, sweeping robot is widely used.In the prior art, sweeping robot generally passes through
Ultrasonic wave goes over indoor location automatically with collision sensing, and is walked between room, is set according to rule of conduct, its movement locus
Room contour and structure etc. can be sketched the contours of, the map in room is then drawn using the room contour and structure memory sketched the contours of, with
Just sweeping for planning type is carried out according to the room map of drafting.
But it is collision of voluntarily dodging after ultrasonic wave and collision sensing Auto-Sensing barrier that existing indoor map, which is drawn,
With movement of turning, room map is then drawn according to the sweep-out pattern of sweeping robot in conjunction with alignment system, often due to room
In the furniture and appliances position put is complicated or some barriers for existing temporarily and cause the room map drawn inaccurate.
Therefore, even if planning sweep-out pattern for the room map of drafting, it can not also meet whole room with the route of optimization
The demand cleaned up, greatly reduces the operating efficiency of sweeping robot.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of room topology map structure side
Method, system, device and sweeping robot, being capable of the gateway characteristic information based on room, room top characteristic point, profit inside and outside gateway
The topological map in room is built with vSLAM technologies, and the path planning of sweeping robot is realized based on the topological map, greatly
Ground improves the operating efficiency of sweeping robot.
In order to achieve the above objects and other related objects, the present invention provides a kind of room topology map construction method, including
Following steps：Obtain the gateway characteristic information in room；Obtain characteristic point at the top of gateway inner room；Obtain special at the top of the outer house of gateway
Levy a little；Based on characteristic point at the top of room outside characteristic point at the top of the gateway characteristic information, gateway inner room and gateway, utilize
VSLAM technologies recognize gateway and room, and build the topological map in room.
Accordingly, the present invention also provides a kind of room topology map constructing system, including the first acquisition module, the second acquisition
Module, the 3rd acquisition module and structure module；
First acquisition module is used for the gateway characteristic information for obtaining room；
Second acquisition module is used to obtain characteristic point at the top of gateway inner room；
3rd acquisition module is used to obtain characteristic point at the top of the outer house of gateway；
The structure module is used for based on characteristic point at the top of the gateway characteristic information, gateway inner room and the outer room of gateway
Top characteristic point, recognizes gateway and room, and build the topological map in room using vSLAM technologies.
In addition, the present invention also provides a kind of room topology map construction device, including communicator, processor and memory；
The communicator is used to obtain the gateway characteristic information in room, gateway inner room top characteristic point and the outer room of gateway
Top characteristic point；
The memory is used to store computer program；
The processor is used for gateway characteristic information, the gateway inner room top feature that room is obtained based on the communicator
Characteristic point at the top of point and the outer room of gateway, performs the computer program of the memory storage, to utilize above-mentioned room topology
Map constructing method builds room topology map.
The present invention also provides a kind of sweeping robot, including sweeping robot body, above-mentioned room topology map are built
Device and microprocessor；
The microprocessor is used for room topology map and institute according to constructed by the room topology map construction device
The walking path of sweeping robot body is stated, generation sweeping robot body cleans the Global motion planning map in room.
In one embodiment of the invention, following principle is based on during the microprocessor generation Global motion planning map：
It could be swept after single room finished cleaning into Next Room.
In one embodiment of the invention, the microprocessor is additionally operable to control the sweeping robot body to realize automatic return
Fill and cleaned with breakpoint.
In one embodiment of the invention, the microprocessor generation sweeping robot body is with cleaning the Global motion planning in room
Figure comprises the following steps：
Based on the driving path of the sweeping robot body, obtain repeatedly and the key frame on path optimizing；
Key frame to be optimized optimizes the path that sweeping robot body is cleaned as road sign；
The path cleaned according to the sweeping robot body optimized, generates Global motion planning map.
In one embodiment of the invention, in addition to the communication module being connected with the microprocessor, the communication module use
In receiving the room cleaning instruction that client is sent, so that the microprocessor is according to the room cleans instruction control
Sweeping robot body performs corresponding cleaning operation.
In one embodiment of the invention, it is phonetic order or information command that the room, which cleans instruction,.
In one embodiment of the invention, in addition to input module, the room, which cleans instruction, includes the cleaning of particular room
Instruction, the cleaning instruction of the particular room includes the identification information of particular room, and the input module is used to sweep the floor described
When robot body cleans completion particular room first, the identification information into the particular room is supplied.
As described above, room topology map construction method, system, device and the sweeping robot of the present invention, with following
Beneficial effect：
(1) can the gateway characteristic information based on room, characteristic point at the top of room inside and outside gateway, using vSLAM technologies come
The topological map in room is built, and realizes based on the topological map path planning of sweeping robot；
(2) room topology map constructed by understands accurately, real-time；
(3) optimal route can be planned according to obtained room topology map for sweeping robot, greatly improved
The operating efficiency of sweeping robot.
Brief description of the drawings
Fig. 1 is shown as flow chart of the room topology map construction method of the present invention in an embodiment；
Fig. 2 is shown as structural representation of the room topology map constructing system of the present invention in an embodiment；
Fig. 3 is shown as structural representation of the room topology map construction device of the present invention in an embodiment；
Fig. 4 is shown as structural representation of the sweeping robot of the present invention in an embodiment；
Fig. 5 is shown as structural representation of the sweeping robot of the present invention in another embodiment.
Component label instructions
1 room topology map constructing system
11 first acquisition modules
12 second acquisition modules
13 the 3rd acquisition modules
14 build module
3 room topology map construction devices
31 communicators
32 processors
33 memories
4 sweeping robots
41 sweeping robot bodies
42 room topology map construction devices
43 microprocessors
44 communication modules
Embodiment
Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through specific realities different in addition
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.It should be noted that, in the case where not conflicting, following examples and implementation
Feature in example can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates the basic structure of the present invention in a schematic way
Think, then in schema only display with relevant component in the present invention rather than according to component count, shape and the size during actual implement
Draw, it is actual when implementing, and kenel, quantity and the ratio of each component can be a kind of random change, and its assembly layout kenel
It is likely more complexity.
Room topology map construction method, system, device and the sweeping robot of the present invention being capable of the gateway based on room
Characteristic point at the top of room, the topological map in room is built using vSLAM technologies, and open up based on this inside and outside characteristic information, gateway
The figure that falls to the ground realizes the path planning of sweeping robot, greatly improves the operating efficiency of sweeping robot, practical.
As shown in figure 1, in an embodiment, room topology map construction method of the invention comprises the following steps：
Step S1, the gateway characteristic information for obtaining room.
Specifically, the image of room gateway is obtained by imaging first-class image acquiring device, and then obtains gateway feature
Information.Preferably, gateway characteristic information includes height, width, color and the doorframe positional information of doorframe.Wherein, doorframe position
Confidence breath includes being located in room and outside room, is the image information based on doorframe periphery to determine.For example, working as doorframe
During close to parlor, then judge to be located at outside room；When doorframe is close to bed, then judge to be located in room.
Characteristic point at the top of step S2, acquisition gateway inner room.
Specifically, characteristic point refers to several at the top of gateway inner room and on doorframe intersecting lens at the top of gateway inner room
Point, such as doorframe summit, doorframe midpoint.Equally, believed by imaging first-class image acquiring device and obtaining at the top of gateway inner room
Breath, and then obtain characteristic point at the top of gateway inner room.
Characteristic point at the top of step S3, the outer house of acquisition gateway.
Specifically, characteristic point refers to several at the top of the outer room of gateway and on doorframe intersecting lens at the top of the outer room of gateway
Point, such as doorframe summit, doorframe midpoint.Equally, believed by imaging first-class image acquiring device and obtaining outside gateway at the top of room
Breath, and then obtain characteristic point at the top of the outer room of gateway.
Step S4, the feature at the top of room outside characteristic point and gateway based on the gateway characteristic information, at the top of gateway inner room
Point, recognizes gateway and room, and build the topological map in room using vSLAM technologies.
Synchronous positioning can be retouched with building figure (Simultaneous Localization and Mapping, SLAM) problem
The movement since a unknown position in circumstances not known for robot is stated, is entered in moving process according to location estimation and map
Row self poisoning, while building increment type map on the basis of self poisoning, realizes autonomous positioning and the navigation of robot.
Positioning is with building figure while vSLAM is view-based access control model, and it obtains image by camera, and then synchronizes positioning with building
Figure, so that with higher modeling accuracy.
Specifically, according to room top outside characteristic point at the top of acquired gateway characteristic information, gateway inner room and gateway
Characteristic point, gateway and room can be recognized using vSLAM technologies.According to the gateway and room recognized, you can build room
Topological map.Wherein, according to the gateway and room recognized, the topological map that can obtain room is spliced and combined.
As shown in Fig. 2 in an embodiment, room topology map constructing system 1 of the invention includes the first acquisition module
11st, the second acquisition module 12, the 3rd acquisition module 13 and structure module 14.
First acquisition module 11 is used for the gateway characteristic information for obtaining room.
Specifically, the image of room gateway is obtained by imaging first-class image acquiring device, and then obtains gateway feature
Information.Preferably, gateway characteristic information includes height, width, color and the doorframe positional information of doorframe.Wherein, doorframe position
Confidence breath includes being located in room and outside room, is the image information based on doorframe periphery to determine.For example, working as doorframe
During close to parlor, then judge to be located at outside room；When doorframe is close to bed, then judge to be located in room.
Second acquisition module 12 is used to obtain characteristic point at the top of gateway inner room.
Specifically, characteristic point refers to several at the top of gateway inner room and on doorframe intersecting lens at the top of gateway inner room
Point, such as doorframe summit, doorframe midpoint.Equally, believed by imaging first-class image acquiring device and obtaining at the top of gateway inner room
Breath, and then obtain characteristic point at the top of gateway inner room.
3rd acquisition module 13 is used to obtain characteristic point at the top of the outer house of gateway.
Specifically, characteristic point refers to several at the top of the outer room of gateway and on doorframe intersecting lens at the top of the outer room of gateway
Point, such as doorframe summit, doorframe midpoint.Equally, believed by imaging first-class image acquiring device and obtaining outside gateway at the top of room
Breath, and then obtain characteristic point at the top of the outer room of gateway.
The structure module 14 and an acquisition module 11, second acquisition module 12 and the 3rd acquisition module
13 are connected, for based on characteristic point, profit at the top of room outside characteristic point at the top of the gateway characteristic information, gateway inner room and gateway
Gateway and room are recognized with vSLAM technologies, and builds the topological map in room.
Synchronous positioning can be retouched with building figure (Simultaneous Localization and Mapping, SLAM) problem
The movement since a unknown position in circumstances not known for robot is stated, is entered in moving process according to location estimation and map
Row self poisoning, while building increment type map on the basis of self poisoning, realizes autonomous positioning and the navigation of robot.
Positioning is with building figure while vSLAM is view-based access control model, and it obtains image by camera, and then synchronizes positioning with building
Figure, so that with higher modeling accuracy.
Specifically, according to room top outside characteristic point at the top of acquired gateway characteristic information, gateway inner room and gateway
Characteristic point, gateway and room can be recognized using vSLAM technologies.According to the gateway and room recognized, you can build room
Topological map.Wherein, according to the gateway and room recognized, the topological map that can obtain room is spliced and combined.
As shown in figure 3, in an embodiment, room topology map construction device 3 of the invention includes communicator 31, processing
Device 32 and memory 33.
The communicator 31 is used to obtain the gateway characteristic information in room, gateway inner room top characteristic point and the outer room of gateway
Between top characteristic point.Specifically, communicator 31 obtains gateway characteristic information, gateway inner room top by way of wire and wireless
Characteristic point at the top of characteristic point and the outer room of gateway.
The memory 33 is used to store computer program.Preferably, the memory includes：ROM, RAM, magnetic disc or
CD etc. is various can be with the medium of store program codes.
The processor 32 is connected with the communicator 31 and the memory 33, for obtaining room based on the communicator
Between gateway characteristic information, characteristic point at the top of characteristic point and the outer room of gateway at the top of gateway inner room, perform the memory and deposit
The computer program of storage, to build room topology map using above-mentioned room topology map construction method.
Preferably, processor 32 can be general processor, including central processing unit (CentralProcessingUnit,
Abbreviation CPU), network processing unit (NetworkProcessor, abbreviation NP) etc.；It can also be digital signal processor
(DigitalSignalProcessing, abbreviation DSP), application specific integrated circuit
(ApplicationSpecificIntegratedCircuit, abbreviation ASIC), field programmable gate array (Field-
ProgrammableGateArray, abbreviation FPGA) or other PLDs, discrete gate or transistor logic device
Part, discrete hardware components.
As shown in figure 4, in an embodiment, sweeping robot 4 of the invention includes sweeping robot body 41, above-mentioned
Room topology map construction device 42 and microprocessor 43.
The microprocessor 43 is used for the room topology map according to constructed by the room topology map construction device 42
With the walking path of the sweeping robot body 41, generation sweeping robot body 41 cleans the Global motion planning map in room.
Specifically, the microprocessor 41 is generated clear according to room topology map and walking path based on preset algorithm
Global motion planning map between making general house-keeping.In one embodiment of the invention, the sweeping robot body of microprocessor 43 cleans room
Global motion planning map comprise the following steps：
1) driving path based on sweeping robot body, is obtained and the key frame on path optimizing repeatedly.
Wherein, key frame refers to the picture frame for including key message.
2) using the key frame of optimization as road sign, the path that optimization sweeping robot body is cleaned.
Specifically, using key frame as relay point one by one, realize that sweeping robot locally cleans the optimization in path.Wherein,
Path optimization's algorithm uses machine learning algorithm.
3) path cleaned according to the sweeping robot body optimized, generates Global motion planning map.
Specifically, the cleaning path of optimization is spliced and combined, you can generation Global motion planning map.
Wherein, it is based on following principle during the generation of processor 43 Global motion planning map：Ability after single room finished cleaning
Swept into Next Room, so as to ensure the validity of sweeping robot cleaning works, it is to avoid returned between room
The power attenuation swept and brought.
In one embodiment of the invention, the microprocessor 43 is additionally operable to control the sweeping robot body to realize automatically
Recharge and cleaned with breakpoint.Specifically, the microprocessor 43, can be in sweeping robot according to the Global motion planning map generated
During not enough power supply, go to complete charging at charger automatically；And after charging complete, automatically return to charging before position at after
It is continuous to carry out cleaning guarantee, so as to ensure the uniformity and validity of sweeping robot cleaning works.
As shown in figure 5, in another embodiment of the present invention, in addition to the communication module being connected with the microprocessor 43
44, the communication module 44 is used to receive the room cleaning instruction that client is sent, so that the microprocessor 43 is according to institute
State room and clean the corresponding cleaning operation of the instruction control sweeping robot body execution.Preferably, the room is cleaned and referred to
Make as phonetic order or information command, sent by intelligent terminals such as smart mobile phones.
In one embodiment of the invention, in addition to input module (not shown), the room, which cleans instruction, includes spy
The cleaning instruction booked room, the cleaning instruction of the particular room includes the identification information of particular room, and the input module is used
In when the sweeping robot cleans completion particular room first, the identification information into the particular room is supplied.Work as needs
When sending the cleaning instruction of particular room, it can control and sweep the floor by the identification information and specific cleaning instruction that input particular room
Robot carries out specific clean to particular room.
In summary, room topology map construction method, system, device and sweeping robot of the invention can be based on room
Between gateway characteristic information, characteristic point at the top of room inside and outside gateway, the topological map in room is built using vSLAM technologies, and
The path planning of sweeping robot is realized based on the topological map；Constructed room topology map understands accurately, real-time；
Optimal route can be planned according to obtained room topology map for sweeping robot, greatly improve sweeping robot
Operating efficiency.So, the present invention effectively overcomes various shortcoming of the prior art and has high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (10)
1. a kind of room topology map construction method, it is characterised in that：Comprise the following steps：
Obtain the gateway characteristic information in room；
Obtain characteristic point at the top of gateway inner room；
Obtain characteristic point at the top of the outer house of gateway；
Based on characteristic point at the top of room outside characteristic point at the top of the gateway characteristic information, gateway inner room and gateway, vSLAM is utilized
Technology recognizes gateway and room, and builds the topological map in room.
2. a kind of room topology map constructing system, it is characterised in that：Including the first acquisition module, the second acquisition module, the 3rd
Acquisition module and structure module；
First acquisition module is used for the gateway characteristic information for obtaining room；
Second acquisition module is used to obtain characteristic point at the top of gateway inner room；
3rd acquisition module is used to obtain characteristic point at the top of the outer house of gateway；
The structure module is used for based at the top of characteristic point at the top of the gateway characteristic information, gateway inner room and the outer room of gateway
Characteristic point, recognizes gateway and room, and build the topological map in room using vSLAM technologies.
3. a kind of room topology map construction device, it is characterised in that：Including communicator, processor and memory；
The communicator is used to obtain at the top of the gateway characteristic information in room, gateway inner room top characteristic point and the outer room of gateway
Characteristic point；
The memory is used to store computer program；
The processor is used to obtaining the gateway characteristic information in room based on the communicator, at the top of gateway inner room characteristic point and
Characteristic point at the top of the outer room of gateway, performs the computer program of the memory storage, to utilize the room described in claim 1
Topological map construction method builds room topology map.
4. a kind of sweeping robot, it is characterised in that：Including the room topology described in sweeping robot body, claim 3
Figure construction device and microprocessor；
The microprocessor is used for room topology map according to constructed by the room topology map construction device and described swept
The walking path of floor-washing robot body, generation sweeping robot body cleans the Global motion planning map in room.
5. sweeping robot according to claim 4, it is characterised in that：During the microprocessor generation Global motion planning map
Based on following principle：
It could be swept after single room finished cleaning into Next Room.
6. sweeping robot according to claim 4, it is characterised in that：The microprocessor is additionally operable to sweep the floor described in control
Robot body realizes that automatic recharge cleans with breakpoint.
7. sweeping robot according to claim 4, it is characterised in that：The microprocessor generates sweeping robot body
The Global motion planning map for cleaning room comprises the following steps：
Based on the driving path of the sweeping robot body, obtain repeatedly and the key frame on path optimizing；
Key frame to be optimized optimizes the path that sweeping robot body is cleaned as road sign；
The path cleaned according to the sweeping robot body optimized, generates Global motion planning map.
8. sweeping robot according to claim 4, it is characterised in that：Also include the communication being connected with the microprocessor
Module, the communication module is used to receive the room cleaning instruction that client is sent, so that the microprocessor is according to described
Room cleans the instruction control sweeping robot body and performs corresponding cleaning operation.
9. sweeping robot according to claim 8, it is characterised in that：It is phonetic order or letter that the room, which cleans instruction,
Breath instruction.
10. sweeping robot according to claim 8, it is characterised in that：Also include input module, the room, which is cleaned, to be referred to
Order includes the cleaning instruction of particular room, and the cleaning instruction of the particular room includes the identification information of particular room, described defeated
Entering module is used to, when the sweeping robot body cleans completion particular room first, supply the mark into the particular room
Information.
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| CN108196456A (en) * | 2018-01-22 | 2018-06-22 | 青岛海尔空调器有限总公司 | A kind of smart home sensing control method, apparatus and air-conditioning |
| CN108507578A (en) * | 2018-04-03 | 2018-09-07 | 珠海市微半导体有限公司 | A kind of construction method and its air navigation aid of overall situation border map |
| CN109602343A (en) * | 2019-01-10 | 2019-04-12 | 珠海格力电器股份有限公司 | Control method and device, the system of sweeping robot based on microwave radar |
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| CN109920424A (en) * | 2019-04-03 | 2019-06-21 | 北京石头世纪科技股份有限公司 | Robot voice control method and device, robot and medium |
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| CN111176301A (en) * | 2020-03-03 | 2020-05-19 | 江苏美的清洁电器股份有限公司 | Map construction method and sweeping method of sweeping robot |
| CN111291140A (en) * | 2018-12-06 | 2020-06-16 | 北京欣奕华科技有限公司 | Method, device, equipment and medium for identifying topological nodes |
| CN111459153A (en) * | 2019-01-03 | 2020-07-28 | 科沃斯机器人股份有限公司 | Dynamic region division and region channel identification method and cleaning robot |
| CN112683273A (en) * | 2020-12-21 | 2021-04-20 | 广州慧扬健康科技有限公司 | Adaptive incremental mapping method, system, computer equipment and storage medium |
| CN113156447A (en) * | 2021-03-10 | 2021-07-23 | 深圳市杉川机器人有限公司 | Door position determination method, sweeper and computer readable storage medium |
| CN113691941A (en) * | 2021-08-20 | 2021-11-23 | 联想(北京)有限公司 | Control method, control device, electronic equipment and storage medium |
| CN113741422A (en) * | 2021-07-30 | 2021-12-03 | 深圳市普渡科技有限公司 | Robot topology map generation system, method, computer device and storage medium |
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