CN107981790A - Room area division methods and sweeping robot - Google Patents
Room area division methods and sweeping robot Download PDFInfo
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- CN107981790A CN107981790A CN201711262898.XA CN201711262898A CN107981790A CN 107981790 A CN107981790 A CN 107981790A CN 201711262898 A CN201711262898 A CN 201711262898A CN 107981790 A CN107981790 A CN 107981790A
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- labeling
- label
- sweeping robot
- spatial coordinate
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L11/40—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
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- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Image Analysis (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Present invention is disclosed a kind of room area division methods and sweeping robot, room area division methods, including：Sweeping robot detection is arranged at the label on indoor room doorframe；Determine the spatial coordinate location of label, the position of virtual boundary between the purging zone that is separated by door is determined according to the spatial coordinate location.Border is judged using figure labeling, region division is reasonable, and volume smaller, can be set for a long time, operates enhanced convenience, moreover it is possible to reduce cost.
Description
Technical field
The present invention relates to region recognition field, especially relates to a kind of room area division methods and machine of sweeping the floor
People.
Background technology
With the development and the improvement of people's living standards of technology, the sweeping robot with autonomous obtains
Great popularization is arrived.Sweeping robot is also known as robot cleaner, is inhaled the rubbish on ground using the wind turbine carried on fuselage
Enter in dust box, and by traveling wheel autonomous, to realize the purpose cleaned the room automatically.
In order to be more effectively carried out sweeping, sweeping robot needs to carry out region division to indoor environment.It is main at present
Region division mode has two kinds：The first is that environment is divided into several portions according to fixed size according to the positional information of robot
Divide and sweep successively.But this mode does not adapt to the different characteristics of different environment, it is easy to which region division is unreasonable
Phenomenon.Second is to provide guiding and limitation by external device (ED), such as the virtual beacon technology of IRobot companies.It is but virtual
Beacon cost is higher, and extra purchase virtual beacon is needed if user needs room being divided into multiple regions, is greatly increased
Use cost；In addition, virtual beacon volume is too big, for example it is placed on a side and will influences the normal use of door, user needs to exist
Carry out putting setting when use, be finished and also accepted, operation is comparatively laborious.
The content of the invention
The main object of the present invention is a kind of lower room area division methods of cost of offer and sweeping robot.
The present invention proposes
A kind of room area division methods, include the following steps：
Sweeping robot detection is arranged at the label on indoor room doorframe；
Determine the spatial coordinate location of label, the purging zone for determining to be separated by door according to the spatial coordinate location
Between virtual boundary position.
Further, the label that sweeping robot detection is arranged on indoor room doorframe includes：Sweeping robot profit
The label on indoor room doorframe in visual sensor investigative range is arranged at visual sensor detection.
Further, label is figure labeling.
Further, figure labeling is equipped with multiple, and figure labeling is posted in doorframe left and right ends respectively；
The position of virtual boundary includes between the purging zone for determining to be separated by door according to the spatial coordinate location：According to
The locus for the figure labeling that both ends are set respectively calculates the fictitious line between two purging zones separated by the door
The position on boundary.
Further, it is determined that the spatial coordinate location of label, determines to be separated by door according to the spatial coordinate location
Two purging zones between virtual boundary position the step of include：
Figure labeling is determined according to location of pixels of the image of figure labeling in the scene image that visual sensor gathers
Position of the image in scene image, and then be converted to spatial coordinate location of the figure labeling in environmental map；
According to spatial coordinate location of the figure labeling in environmental map, judge in environmental map between two purging zones
The position of virtual boundary.
It is further proposed that a kind of sweeping robot, sweeping robot includes detecting module and judgment module；
Detecting module is used for the label that sweeping robot detection is arranged on indoor room doorframe；Judgment module is used for true
Determine the spatial coordinate location of label, virtual boundary between the purging zone that is separated by door is determined according to the spatial coordinate location
Position.
Further, detecting module includes detection submodule；Submodule is detected to be used to set using visual sensor detection
In the label on indoor room doorframe in visual sensor investigative range.
Further, label is figure labeling, and figure labeling is equipped with multiple, and figure is posted in doorframe left and right ends respectively
Labeling；
Judgment module includes judging submodule；Judging submodule is used for the space of the figure labeling set respectively according to both ends
Position calculates the position of the virtual boundary between two purging zones separated by the door.
Further, label is figure labeling；
Judgment module includes collection submodule, positioning submodule；Collection submodule is used to be existed according to the image of figure labeling
Location of pixels in the scene image of visual sensor collection determines position of the image of figure labeling in scene image, and then
Be converted to spatial coordinate location of the figure labeling in environmental map；Submodule is positioned to be used for according to figure labeling in environmental map
In spatial coordinate location, judge the position of the virtual boundary between two purging zones in environmental map.
Further, on label is arranged inside and outside indoor room doorframe.
Room area division methods of the present invention and sweeping robot, room area division methods judge side using figure labeling
Boundary, region division is reasonable, and volume smaller, can set for a long time, avoids frequent moving boundary, reduces artificial participation, behaviour
Make enhanced convenience, contrast the use of virtual beacon, cost can be reduced.
Brief description of the drawings
Fig. 1 is the step schematic diagram of one embodiment of room area division methods of the present invention；
Fig. 2 is the step schematic diagram of another embodiment of room area division methods of the present invention；
Fig. 3 is the step schematic diagram of room area division methods 3rd embodiment of the present invention；
Fig. 4 is the step schematic diagram of mono- embodiments of step S2 in room area division methods of the present invention；
Fig. 5 is the step schematic diagram of mono- embodiments of step S23 in room area division methods of the present invention；
Fig. 6 is the step schematic diagram of room area division methods fourth embodiment of the present invention；
Fig. 7 is the structure diagram of one embodiment of sweeping robot of the present invention；
Fig. 8 is the structure diagram of one embodiment of detecting module in sweeping robot of the present invention；
Fig. 9 is the structure diagram of one embodiment of judgment module in sweeping robot of the present invention；
Figure 10 is the structure diagram of another embodiment of judgment module in sweeping robot of the present invention；
Figure 11 is the structure diagram of another embodiment of judging submodule in sweeping robot of the present invention；
Figure 12 is the structure diagram of another embodiment of sweeping robot of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
With reference to Fig. 1, a kind of room area division methods, include the following steps：
S1, sweeping robot detection are arranged at the label on indoor room doorframe.
S2, the spatial coordinate location for determining the label, determine what is separated by door according to the spatial coordinate location
The position of virtual boundary between purging zone.
In above-mentioned steps S1, label is arranged on doorframe position；Label to be flat, can set for a long time and
Door opening and closing are not influenced, need not be removed after, reduce human intervention, and using more convenient, user experience is more preferable.
In above-mentioned steps S2, can be divided by virtual boundary purging zone the space entirely to be swept is divided into it is each
Purging zone；Particularly in the house for there are multiple rooms, each room can be independently divided, prevent sweeping robot from not having
Different room work is travelled to and fro between to planning, the experience of user is more preferable；Virtual boundary is set at door under normal conditions, in room
Purging zone is divided at door.
Sweeping robot judges whether according to preset condition can be to pass through virtual boundary.
With reference to Fig. 2, in certain embodiments, step S1 includes：
S11, sweeping robot are arranged at visual sensor on indoor room doorframe using visual sensor detection and detect model
Enclose interior label.
In above-mentioned steps S11, label, label are found in the sweeping robot course of work using visual sensor
Set position will be in the range of visual sensor can detect, such as label is arranged on room doorframe, and cannot be in vision
Sensor can be detected outside scope.
Label is figure labeling.Figure labeling is laminar object, can be pasted in the plane without influencing door just
Normally open and closing, therefore need not remove after a single use, it can place for a long time, therefore once set and can repeatedly make
With reducing the workload of user, user experience is more preferable, and the cost of figure labeling is all less expensive, can also reduce user
Cost.
Figure in figure labeling can be Quick Response Code.
In certain embodiments, visual sensor can be monocular, binocular or depth camera.
With reference to Fig. 3, in certain embodiments, figure labeling is equipped with multiple, and figure mark is posted in doorframe left and right ends respectively
Patch；
Step S2 includes：
S21, the locus of the figure labeling set respectively according to both ends calculate two cleanings separated by the door
The position of virtual boundary between region.
The locus by two figure labelings of step S21 directly calculates the position of virtual boundary, the standard of judgement
True rate higher.
With reference to Fig. 4, in the present embodiment, step S2 includes：
S22, according to location of pixels of the image of figure labeling in the scene image that visual sensor gathers determine figure
Position of the image of labeling in scene image, and then be converted to spatial coordinate location of the figure labeling in environmental map.
S23, the spatial coordinate location according to figure labeling in environmental map, judge two sweeping areas in environmental map
The position of virtual boundary between domain.
In above-mentioned steps S22, environmental map initializes space coordinates for sweeping robot when starting to work, afterwards
The data obtained according to visual sensor carry out the map that indoor positioning is obtained with building figure, including room boundaries, pose position
Put and the information such as size, space coordinates；Spatial coordinate location of the figure labeling in environmental map can be determined substantially virtually
The position on border.
In above-mentioned steps S23, the specific location of virtual boundary is judged according to setting by the position of figure labeling, virtually
Border is separated out two adjacent purging zones.
Label by then passing through visual sensor, therefore does not mark on being arranged inside and outside indoor room doorframe
Thing can not just realize the room area division in this programme, therefore, should be at door, and corresponding each purging zone will have at least
One label.
Include with reference to Fig. 5, step S23：
S231, according to spatial coordinate location of the figure labeling in environmental map determine its direction.
S232, centered on figure labeling along plane where figure labeling to horizontal direction both sides with wide more than or equal to door
The predetermined width of degree extends to obtain virtual plane.
If S233, virtual plane run into definite barrier into both sides spreading process from figure labeling midpoint in environmental map
Hinder object plane, then it is blocked.
If, there is definite obstacle object plane in S234, in the distance of the opposite direction setting of figure labeling by the position
Deleted from virtual plane.
S235, the remaining virtual plane of detection, reject the plane that width is less than the second predetermined width.
If S236, still suffer from multiple qualified virtual planes, select nearest from figure labeling center virtual flat
Face is as virtual boundary between two purging zones.
In above-mentioned steps S231, sweeping robot detects figure labeling, therefore sweeping robot by visual sensor
It is opposite with figure labeling, purging zone and figure labeling where sweeping robot can be determined by the direction of figure labeling
Relative position, the place side of purging zone and adjacent purging zone according to where the direction of figure labeling judges sweeping robot
To, and the direction of virtual boundary, virtual boundary be located at the horizontal extension direction of figure labeling side.
In above-mentioned steps S232, predetermined width is more than or equal to door width, therefore door position must be in virtual plane
It is interior；Predetermined width is 1.5m-3.2m in certain embodiments.
In above-mentioned steps S233, definite obstacle object plane is the plane that sweeping robot can not pass through.
In above-mentioned steps S234, in order to judge the wall of door side in the situation away from the direction of door, therefore should
Wall is located at the opposite direction of figure labeling, determines there is the obstacle object plane such as wall in distance in the opposite direction for determining figure labeling,
It can determine that door will not will not can not lead in obstacle object plane position, virtual boundary in the position, sweeping robot
Cross the position and enter another room, therefore the virtual plane of the position correspondence can be deleted.
In above-mentioned steps S235, the second predetermined width is less than or equal to the width of door, can reject apparently without may deposit
In the face of door.
In above-mentioned steps S236, since figure labeling is attached on doorframe, nearest from figure labeling center is virtual
Most possibly there are door for plane.
In certain embodiments, second threshold 0.6m-1.5m.Preferably 0.6m.
With reference to Fig. 6, include after step S2：
S3, when purging zone is not completed and swept, sweeping robot runs into virtual boundary and takes measures to keep clear；In sweeping area
When domain has completed to sweep, sweeping robot crosses virtual boundary and enters adjacent region.
In above-mentioned steps S3, when purging zone is not completed and swept, sweeping robot runs into virtual boundary and takes avoidance
Measure；When judging that purging zone has been completed to sweep, when sweeping robot runs into virtual boundary, reactive measures are not taken, directly
Cross magnetic stripe and enter adjacent purging zone.Nearby principle, machine of sweeping the floor can be used into the adjacent order for not sweeping space
People enters neighbouring purging zone by nearest virtual boundary automatically according to coordinate setting.
In certain embodiments, measures to keep clear ensures that sweeping robot will not cross virtual boundary to retreat, turning.
With reference to Fig. 7, the present invention also proposes a kind of sweeping robot, and sweeping robot includes detecting module 1, judgment module 2；
Detecting module 1 is used for the label that sweeping robot detection is arranged on indoor room doorframe；Judgment module 2 is used to determine described
The spatial coordinate location of label, virtual boundary between the purging zone that is separated by door is determined according to the spatial coordinate location
Position.
In the work of detecting module 1, label is arranged on doorframe position；Label is flat, can be set for a long time
Put and opened and closed without influencing door, need not be removed after, reduce human intervention, using more convenient, user experience is more preferable.
In the work of judgment module 2, purging zone can be divided by virtual boundary and be divided into the space entirely to be swept
Each purging zone, particularly in the house for having multiple rooms, can independently divide each room, prevents sweeping robot
Travel to and fro between different room work with not planning, the experience of user is more preferable；Virtual boundary is set at door under normal conditions,
Region is divided at door；Sweeping robot judges whether according to preset condition can be to pass through virtual boundary
With reference to Fig. 8, detecting module 1 includes detection submodule 11；Submodule 11 is detected to be used to detect using visual sensor
It is arranged at the label in visual sensor investigative range on indoor room doorframe.
In 11 course of work of submodule is detected, mark is found in the sweeping robot course of work using visual sensor
Thing, label sets position will be in the range of visual sensor can detect, such as label is arranged on room doorframe, and not
Visual sensor it can detect again outside scope.
Label is figure labeling.Figure labeling is laminar object, can be pasted in the plane without influencing door just
Normally open and closing, therefore need not remove after a single use, it can place for a long time, therefore once set and can repeatedly make
With reducing the workload of user, user experience is more preferable, and the cost of figure labeling is all less expensive, can also reduce user
Cost.
Figure in figure labeling can be Quick Response Code.
In certain embodiments, visual sensor can be monocular, binocular or depth camera.
With reference to Fig. 9, label be figure labeling, and for figure labeling equipped with multiple, figure is posted in doorframe left and right ends respectively
Labeling；Judgment module 2 includes judging submodule 21；Judging submodule 21 is used for the sky of the figure labeling set respectively according to both ends
Between position calculate the position of the virtual boundary between two purging zones separated by the door.Work in judging submodule 21
During, the position of virtual boundary, the accuracy rate higher of judgement are directly calculated by the locus of two figure labelings.
With reference to Figure 10, judgment module 2 includes collection submodule 22, positioning submodule 23；Collection submodule 22 is used for basis
Location of pixels of the image of figure labeling in the scene image that visual sensor gathers determines the image of figure labeling in scene
Position in image, and then be converted to spatial coordinate location of the figure labeling in environmental map；Positioning submodule 23 is used for root
According to spatial coordinate location of the figure labeling in environmental map, virtual boundary between two purging zones is judged in environmental map
Position.
In 22 course of work of submodule is gathered, environmental map initializes space when starting to work for sweeping robot and sits
Mark system, the map that the indoor positioning of data progress obtained afterwards according to visual sensor is obtained with building figure, including room boundaries,
Put the information such as object location and size, space coordinates；Spatial coordinate location of the figure labeling in environmental map can be substantially
Determine the position of virtual boundary.
In 23 course of work of submodule is positioned, the specific of virtual boundary is judged according to setting by the position of figure labeling
Position, virtual boundary are separated out two adjacent purging zones.
Label by then passing through visual sensor, therefore does not mark on being arranged inside and outside indoor room doorframe
Thing can not just realize the room area division in this programme, therefore, should be at door, and corresponding each purging zone will have at least
One label.
With reference to Figure 11, label is figure labeling；Positioning submodule 23 includes towards unit 231, extension apparatus 232, cuts
Disconnected unit 233, delete unit 234, culling unit 235 and selecting unit 236；It is used to be existed according to figure labeling towards unit 231
Spatial coordinate location in environmental map determines its direction；Extension apparatus 232 is used for centered on figure labeling along figure labeling
Place plane extends to obtain virtual plane to horizontal direction both sides with the predetermined width more than or equal to door width；Block unit
Put down if 233 run into definite barrier into both sides spreading process from figure labeling midpoint for virtual plane in environmental map
Face, then block it；If deleting unit 234 is used for there is definite barrier in the distance that the opposite direction of figure labeling is set
Hinder object plane, then delete the position from virtual plane；Culling unit 235 is used to detect remaining virtual plane, rejects wide
Plane of the degree less than the second predetermined width；If selecting unit 236 is used to still suffer from multiple qualified virtual planes, select
The virtual plane nearest from figure labeling center is as virtual boundary between two purging zones.
Towards in 231 course of work of unit, sweeping robot detects figure labeling by visual sensor, therefore sweeps the floor
Robot is opposite with figure labeling, and purging zone and figure where sweeping robot can be determined by the direction of figure labeling
The relative position of labeling, judges purging zone where sweeping robot and adjacent purging zone according to the direction of figure labeling
Place direction, and the direction of virtual boundary, virtual boundary are located at the horizontal extension direction of figure labeling side.
In 232 course of work of extension apparatus, predetermined width is more than or equal to door width, therefore door position must be in void
In quasi-plane；Predetermined width is 1.5m-3.2m in certain embodiments.
In 233 course of work of unit is blocked, definite obstacle object plane is the plane that sweeping robot can not pass through.
In 234 course of work of unit is deleted, in order to judge the wall of door side in the situation away from the direction of door,
Therefore the wall is located at the opposite direction of figure labeling, determines there are the barriers such as wall in distance in the opposite direction for determining figure labeling
Plane, you can judge door will not in obstacle object plane position, virtual boundary will not in the position, sweeping robot without
Method enters another room by the position, therefore the virtual plane of the position correspondence can be deleted.
In 235 course of work of culling unit, the second predetermined width be less than or equal to door width, can reject apparently without
There may be the face of door.
It is nearest from figure labeling center since figure labeling is attached on doorframe in 236 course of work of selecting unit
Virtual plane most possibly there are door.
In certain embodiments, second threshold 0.6m-1.5m.Preferably 0.6m.
With reference to Figure 12, sweeping robot further included boundary's judgment module 3, crosses boundary's judgment module 3 and is used in purging zone not
When completion is swept, judge that sweeping robot runs into virtual boundary and takes measures to keep clear；When purging zone has been completed to sweep, sweep the floor
Robot crosses virtual boundary and enters adjacent purging zone.
It can confirm that while virtual boundary is determined according to environmental map
In 3 course of work of boundary's judgment module is crossed, when purging zone is not completed and swept, sweeping robot runs into fictitious line
Take measures to keep clear in boundary；When judging that purging zone has been completed to sweep, when sweeping robot runs into virtual boundary, reaction is not taken
Measure, is directed across magnetic stripe and enters adjacent purging zone.Nearby principle can be used into the adjacent order for not sweeping space,
Sweeping robot enters neighbouring purging zone by nearest virtual boundary automatically according to coordinate setting.
Measures to keep clear ensures that sweeping robot will not cross virtual boundary to retreat, turning.
Interior purging zone division methods and sweeping robot, indoor purging zone division methods of the invention use figure mark
Patch judges border, and purging zone division is reasonable, and figure labeling volume smaller, can for a long time set, avoid frequent movement
Border, reduces artificial participation, operates enhanced convenience, contrast the use of virtual beacon, moreover it is possible to reduce cost.
The foregoing is merely the preferred embodiment of the present invention, is not intended to limit the scope of the invention, every utilization
The equivalent structure or equivalent flow shift that description of the invention and accompanying drawing content are made, it is related to be directly or indirectly used in other
Technical field, be included within the scope of the present invention.
Claims (10)
1. a kind of room area division methods, it is characterised in that include the following steps：
Sweeping robot detection is arranged at the label on indoor room doorframe；
Determine the spatial coordinate location of the label, the purging zone for determining to be separated by door according to the spatial coordinate location
Between virtual boundary position.
2. room area division methods according to claim 1, it is characterised in that the sweeping robot detection is arranged at
Label on indoor room doorframe includes：
The sweeping robot is arranged at the visual sensor on indoor room doorframe using visual sensor detection and detects model
Enclose interior label.
3. room area division methods according to claim 2, it is characterised in that the label is figure labeling.
4. room area division methods according to claim 3, it is characterised in that the figure labeling is equipped with multiple, institute
State doorframe left and right ends and post the figure labeling respectively；
The position of virtual boundary includes between the purging zone for determining to be separated by door according to the spatial coordinate location：According to
The locus for the figure labeling that the both ends are set respectively calculates the void between two purging zones separated by the door
Intend the position on border.
5. room area division methods according to claim 3, it is characterised in that the space for determining the label
Coordinate position, the step of the position of virtual boundary between two purging zones being separated by door is determined according to the spatial coordinate location
Suddenly include：
According to determining location of pixels of the image of the figure labeling in the scene image that the visual sensor gathers
Position of the image of figure labeling in the scene image, and then be converted to space of the figure labeling in environmental map
Coordinate position；
According to spatial coordinate location of the figure labeling in environmental map, two sweeping areas in the environmental map are judged
The position of virtual boundary between domain.
6. a kind of sweeping robot, it is characterised in that the sweeping robot includes：
Detecting module, the label being arranged at for sweeping robot detection on indoor room doorframe；
Judgment module, for determining the spatial coordinate location of the label, determines by door point according to the spatial coordinate location
The position of virtual boundary between the purging zone separated.
7. sweeping robot according to claim 6, it is characterised in that the detecting module includes：
Submodule is detected, model is detected for being arranged at the visual sensor on indoor room doorframe using visual sensor detection
Enclose interior label.
8. sweeping robot according to claim 7, it is characterised in that the label is figure labeling, the figure
Labeling be equipped with it is multiple, the figure labeling is posted in the doorframe left and right ends respectively；
The judgment module includes：
Judging submodule, the locus of the figure labeling for being set respectively according to the both ends is calculated to be separated by the door
Two purging zones between virtual boundary position.
9. sweeping robot according to claim 6, it is characterised in that the label is figure labeling；
The judgment module includes：
Submodule is gathered, for the picture according to the image of the figure labeling in the scene image that the visual sensor gathers
Position of the image of figure labeling in the scene image described in plain location determination, and then the figure labeling is converted in ring
Spatial coordinate location in the figure of condition；
Submodule is positioned, for the spatial coordinate location according to the figure labeling in environmental map, is judged in environmental map
In between two purging zones virtual boundary position.
10. sweeping robot according to claim 6, it is characterised in that the label is arranged at indoor room doorframe
Inside and outside on.
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| CN108968825A (en) * | 2018-08-17 | 2018-12-11 | 苏州领贝智能科技有限公司 | A kind of sweeping robot and robot sweep the floor method |
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