CN108403009A - A kind of sweeping robot and its control method - Google Patents

A kind of sweeping robot and its control method Download PDF

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Publication number
CN108403009A
CN108403009A CN201810192060.6A CN201810192060A CN108403009A CN 108403009 A CN108403009 A CN 108403009A CN 201810192060 A CN201810192060 A CN 201810192060A CN 108403009 A CN108403009 A CN 108403009A
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China
Prior art keywords
sweeper
remote
control
icon
signal
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CN201810192060.6A
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Chinese (zh)
Inventor
徐志强
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Individual
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Individual
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Priority to CN201810192060.6A priority Critical patent/CN108403009A/en
Publication of CN108403009A publication Critical patent/CN108403009A/en
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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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention relates to a kind of sweeping robot of electronic technology field and its control method, including sweeper and remote controler, operator when needed can the movement of manual intervention control sweeping robot carry out diagonal row of dropping into and sweep the floor.Its remote control method includes two kinds of video frequency remote-control and light-beam remote control, when using video frequency remote-control, it can realize " sight of operator see to where; sweeping robot just it is mobile thereunto ", and when using light-beam remote control, remote controler with a remote control light beam, realize " by light beam get to where; sweeping robot just it is mobile thereunto ", so being remotely controlled extremely simple convenience and interesting.

Description

A kind of sweeping robot and its control method
The present invention relates to a kind of sweeping robot of appliance field and its control methods for technical field.
Background technology sweeping robot or intelligent sweeping are emerging in recent years small household appliances, include for driving Sweeper for realizing being swept the floor to ground or the floor sweeping mechanism of dust suction, is used in ground run and the traveling mechanism of steering The intelligent control circuit for controlling sweeper traveling and turning to, the drive for instructing and driving traveling mechanism to work for receiving control circuit Dynamic circuit can sweep the floor inside room or dust suction automatically generally using rechargeable battery as power supply.Sweeping robot is general There is no distant control function, only relies on intelligent control circuit and travelled and swept the floor control, but not due to current intelligent control function It is enough perfect, usually there are places certain to room and sweep the floor repeatedly, and the case where to some place always drain sweeps, and at this moment without Method manually controls it, and can only take up and it is relay in the place swept the floor of needs, to use bring it is a degree of It is inconvenient.
If the remote control technology of toy is applied directly on sweeping robot, current toy remote control technology includes electronic Toy and remote controler, remote control mode mostly use RF remote-controlled or infra-red remote control.Remote controler therein include operation button (or behaviour Make bar), coding circuit and radiating circuit, operator's both hands carry out various operations in remote controler, and forming coding by coding circuit believes Breath is launched by radiating circuit again.The control circuit of electronic toy includes receiving circuit, decoding circuit and execution circuit.It connects The transmitting signal that circuit receives remote controler is received, obtains remote information by decoding circuit decoding, then control is executed by execution circuit, Toy is set to complete various actions, such as the advance of automobile, retrogressing, left-hand rotation, right-hand rotation, the up and down of aircraft, advances, vacantly etc..
These existing toy remote control technologies, its main feature is that belonging to a kind of " movement remote-control ", i.e., operator is as needed Each step remote control actions are made, and is converted into remote signal and is sent to toy, toy receives remote signal and identifies that this is distant Signal is controlled, driving executing agency executes corresponding this step action.Operator needs to be intended to according to remote control and toy position is continuous Straighforward operation step by step is carried out, so it is cumbersome to operate, it appears inadequate " intelligence ".
Invention content, can be distant by manually carrying out purpose of the present invention is to disclose a kind of sweeping robot and its control method Control, and straighforward operation is more intuitive and more convenient.The remote control method of the present invention includes two kinds of video frequency remote-control and light-beam remote control, When using video frequency remote-control, it can realize " sight of operator see to where, sweeping robot just it is mobile thereunto " purpose. Using light-beam remote control when, remote controler with one remote control light beam, by light beam irradiation where, sweeping robot is just moved to that In.
The sweeping robot of the present invention includes sweeper；Sweeper includes power supply (battery), for controlling sweeper row The intelligent control circuit sailing and sweep the floor, for receive driving circuit that intelligent control circuit instructs and drive executing agency to work, And executing agency；Executing agency include for drive sweeper the traveling mechanism of ground run and for realizing to ground into Row is swept the floor or the floor sweeping mechanism of dust suction；It is characterized in that sweeping robot further includes having remote controler；Sweeper further includes having remote control Receiving circuit, the output of remote-control receiving circuit are connected to the intelligent control circuit of sweeper, are received in remote-control receiving circuit distant When controlling the remote signal of device, sweeper is controlled by intelligent control circuit and is travelled according to telecommand.
Remote control method between the sweeper and remote controler of sweeping robot, can be used video frequency remote-control method or light-beam remote control Method.
The video frequency remote-control method of the present invention, including：(1), absorbed towards sweeper by camera using visual remote control existing Scene image signal, is output on video display screen after signal processing and shows by the scene of field；(belongs to and commonly regard Frequency technology)；(2), on the image of display screen, an anchor window for corresponding to operator's eye position is set；Visual remote control Control circuit in picture signal, setting anchor window position data in the picture；(anchor window can be direct fixation It is arranged on the screen of display screen；It can also be the window icons for being set as virtual, and show on the image, at this moment anchor window Absolute position relative to screen is fixed, but the relative position of the scene image relative to mobile variation is mobile)； (3), operator is intended to according to remote control, dollying head, so that the scene image of display screen display is generated movement, and make display screen Upper anchor window alignment function person wishes that sweeper is moved on target location；(that is operator wishes sweeper in next step Where is movement, just will be directed at there relative to the anchor window of operator's sight)；(4), remote control control circuit is in scene graph As in signal, identifying the identification icon of sweeper；If (in scene image signal, not identifying the identification figure of sweeper Mark, illustrates that sweeper is not fallen in the scene domain of present viewing field, and operator is not remotely controlled " intention ", then remote control control electricity Road does not send out telecommand, and at this moment the traveling of sweeper is still controlled by the original intelligent control circuit of sweeper)；⑸、 Remote control control circuit obtains position data of the sweeper identification icon in picture signal, and with the position data of anchor window It is compared, (position of anchor window on the image is fixed, and position data is also setting and constant) both obtains Relative position, and show that driving sweeper is moved to the telecommand of anchor window with this；Wherein in scene picture signal, When the identification icon of sweeper touches anchor window, (it that is to say that the position data of sweeper identification icon and anchor window goes out When being now overlapped), remote control control circuit stopping send out telecommand, (at this moment sweeper by sweeper intelligent control circuit control System)；(6), the signal of telecommand is sent after coding by radiating circuit；(7), the remote-control receiving circuit of sweeper After receiving remote signal, telecommand is obtained by decoding, intelligent control circuit is output to, is controlled by intelligent control circuit Sweeper is travelled according to telecommand, (driving sweeper is moved to target location).Above-mentioned steps are that continuous cycle executes 's.
The anchor window recited above for corresponding to operator's eye position can be the rectangle constituted using colored lines Or the wicket of circle or other shapes；Can also be a colored hot spot or colored points.Anchor window is in display image In position, can theoretically be arranged in any position, but it is most suitable to be generally located on the position among display screen.Anchor window Can be that (such as printing) is directly fixedly installed on the physical screen of display screen, at this moment remote control control circuit also needs Setting corresponds to the position data of this anchor window in picture signal；Anchor window can also be the window figure for being set as virtual Mark, and show that at this moment anchor window is fixed relative to the absolute position of screen on the image, but relative to mobile variation The relative position of scene image is mobile, moreover, the position data of anchor window in the picture is fixed.
Position of the anchor window in display image is fixed, is not moved with the movement of camera, so, on the spot When scape image changes with the movement of camera, anchor window just generates relative movement in scene image.It is equivalent to behaviour The position of the sight of author, operator can make scene image generate movement with dollying head, even if also the visual field generates shifting It is dynamic, and anchor window is directed at the target location that operator wishes that sweeper moves to reach in next step.
Identification of the remote control control circuit to the identification icon of sweeper, is generally realized using identification software, this belongs to Existing image recognition technology.It is simplest, sweeper can be identified as a point, it is opposite with anchor window to calculate it Position, and show that driving sweeper carries out mobile instruction to anchor window.But the various fortune due to sweeper on the ground It is dynamic to can be analyzed to advance, retreat, turn left, the action of right-hand rotation four direction synthesis, if sweeper is at this moment identified as a point Controlled, then operator need the front end for anchor window being placed on sweeper to guide control just there is no problem, if fixed Position window is moved to sweeper rear end, it can not distinguish the difference of front and back, just it is possible that malfunction.
In order to overcome this disadvantage, the present invention to be improved, sweeper is not identified as a point by remote control control circuit, But the identification icon for being identified as sweeper that there is front and back tropism, it that is to say before identifying sweeper in picture signal Rear direction.In this way in scene image, if anchor window is moved to rear end or the left and right sides of sweeper by operator, it is remotely controlled The software of device control circuit just can recognize that anchor window is to make sweeper in the rear end of sweeper or left and right sides to send out The telecommand for retreating (or left and right turn) makes sweeper correctly be moved to anchor window.
Sweeper is identified as to have directive identification figure calibration method, Ke Yishi：(1), according to the figure of sweeper itself The directive identification icon of tool is identified as signal.Namely directly its front end is identified according to the appearance images of sweeper The rear end and.This can directly use existing image recognition technology, its advantage is that it is easy to use, without changing the original of sweeper Appearance, the disadvantage is that identification software is more complicated, it is also higher to hardware requirement although there is canned software can be used.Or： (2), the marker with direction characteristic is provided in appearance in sweeper, identification software passes through the marker in picture signal To identify that the directionality of sweeper identifies icon.Simplest, marker can be an asymmetrical color map.Software root The front-rear direction that sweeper is identified according to this special sign thing, is just easy to.Or：(3), hair is provided on sweeper Light pipe constitutes the luminous pattern with direction characteristic by the light of luminous tube, and software is identified by this luminous pattern Go out the directionality identification icon of sweeper.For example the luminous pattern of directionality is constituted using three luminous tubes, or use one Luminous tube coordinates the light transmission piece with directionality shape to constitute luminous pattern.This method can due to sweeper identification icon Specific light is sent out, so software identification is got up more easily, the disadvantage is that needing the appearance of change sweeper.
The program of control circuit is circular flow, and in each operational process, procedure identification goes out scene image information The relative position of middle sweeper identification icon and anchor window, obtains and drives sweeper to be moved to anchor window under current state It instructs, launches after coding；Sweeper receives the remote signal, obtains telecommand by decoding, is output to intelligent control Circuit processed, is executed instruction by executing agency, and driving sweeper is moved or turned to adjustment, to target location (namely in image The position that anchor window is aligned) it is mobile.
The corresponding visual remote control of the present invention, includes radiating circuit, it is characterised in that：Further include having video camera (abbreviation camera), video display screen (abbreviation display screen) and remote control circuit；Camera includes to be remotely-controlled for absorbing Sweeper image scene image；Display screen is used for display scene images；Remote control circuit includes by signal processing flow There are video processing module, sweeper icon-based programming module, position signal identification module, telecommand generation module and remote control to refer to Coding module is enabled, wherein：Video processing module, the vision signal for handling camera are output to display screen and are shown, and The anchor window of a fixed position is generated in the picture, while obtaining the position data of anchor window in the picture；Sweeper Icon-based programming module, in scene picture signal, identifying the identification icon of sweeper；Position signal identification module is used for In scene picture signal, extract anchor window and sweeper identification icon position data, and by the position data of the two into Row compares, and obtains the relative position of sweeper identification icon and anchor window；Telecommand generation module, for being believed according to image The relative position of sweeper identification icon and anchor window, generates the telecommand of driving sweeper movement in number；(telecommand Namely the target location that driving sweeper is aligned to anchor window carries out moving required remote control actions.Telecommand includes Advance, retreat, turn left, turn right)；Telecommand coding module (abbreviation coding module), for being encoded to telecommand；It is distant The output of control circuit namely the output of telecommand coding module are controlled, radiating circuit is connected to, is sent out by radiating circuit It penetrates.
Sweeper image recognition can be to have directive sweeper identification figure by wherein sweeper icon-based programming module Mark, content of the recognition methods with reference to video frequency remote-control method above-mentioned.
The present invention visual remote control, independent hand-held remote controller can be made, held in hand by operator, camera towards The sweeper being remotely-controlled, intake include operator in the scene image of sweeper and the display screen for the person that is shown in oriented manipulation Remote controler in mobile hand changes the scene image that camera is absorbed, makes the anchor window in display screen (relative to operator Eye position) alignment function person wishes the target location that sweeper moves to reach, remote control circuit will pass through procedure identification, Judge and send out sweeper is driven to carry out mobile telecommand, and is emitted by radiating circuit after coding.When sweeping the floor The remote-control receiving circuit of machine receives remote signal, is just decoded and obtains telecommand, is output to intelligent control circuit, this Telecommand has limit priority, drives executing agency to execute corresponding action by intelligent control circuit, driving sweeper to Target location is moved, and realizes that operator sees to where sweeper just moves remote control to there.And when the remote control reception of sweeper When circuit is not received by remote signal, then control authority gives back the intelligent control circuit of sweeper, is pressed by intelligent control circuit Control sweeper is arranged according to original program to be travelled and swept the floor work.
Sweeping robot disclosed by the invention, the work(for travelling and sweeping the floor in addition to the automation with original sweeping robot Can, also acceptable manual remote control direct intervention and remote-controlling machine for cleaning floor can be moved to the ground of needs when operator feels to need Fang Jinhang sweeps the floor, and (work of sweeping the floor can be carried out by being remained on certainly in mobile process sweeper) prevents existing sweeping robot The defect of place drain sweeps certain to room, and increase the enjoyment of remote control.It is crucial that unique video of the invention Remote control method and visual remote control can be identified sweeper, judge and be controlled, to sweeper by video image When remote control, operator is not necessarily to go to execute each step action by manual operation control sweeper, but by sight (in display screen Small anchor window) see where, sweeper just automatically moves thereunto, thus the extremely simple convenience of straighforward operation and it is interesting, show It obtains more " intelligence ".This remote control method is carried out using remote control actions one by one to control toy with existing toy remote control technology Mobile " movement remote-control " is entirely different, can be described as being " target remote control ".
The remote control technology of the present invention can also be combined with the smart mobile phone with video camera function or other digital products, that is, be adopted Sweeper is remotely controlled with mobile phone or other digital products, becomes a kind of method using mobile phone remote sweeper.Its hand Machine includes camera, display screen and center processing circuit；Its method includes：(1), the video frequency remote-control method of the present invention will be completed Remote control special-purpose software, (i.e. APP), download simultaneously be mounted on mobile phone reservoir in, transported by the center processing circuit of mobile phone Row, realization include video processing module, sweeper icon-based programming module, position signal identification module, telecommand generation module, With the function of telecommand coding module；(2), will be output on the wireless communication interface of mobile phone by the telecommand of coding； (Bluetooth interface module or WIFI interface module that mobile phone can be used), (3), the remote control of the wireless communication interface of mobile phone and sweeper Receiving circuit (needing using matched bluetooth communication or WIFI communication modules) is wirelessly connected.In the mobile phone Heart processing circuit operation remote control special-purpose software, the function module realized, with the remote control circuit institute of above-mentioned visual remote control The function module of realization is the same, and its operation principle with remote control method is with video frequency remote-control method above-mentioned, this In be not repeated.Program staff just can complete writing for these softwares according to aforesaid operating principle and remote control method.
The technology of above-mentioned video frequency remote-control mobile phone, operator hold mobile phone, include to sweep using the camera intake of mobile phone The scene image of ground machine, and will be in anchor window (sightline window for being equivalent to operator) the alignment scene image on mobile phone screen Wish the target location that sweeper moves to reach, sweeper just receive it is Remote Control Automatic moved to target location, be equally according to behaviour The sight of author controls the movement of sweeper, the simpler convenience that operates and interesting.
As a kind of more interesting design, the exterior design of Google glass may be used in visual remote control of the invention, and It is combined with the technology of the projection-type display screen of Google glass, is that the display screen of remote controler of the present invention is used into Google glass Be mounted on spectacle-frame on miniature projection-type display screen, other technologies still using the present invention, make for sweeper be remotely controlled Remote control eyeglasses.Its specific technical solution is：A kind of video frequency remote-control glasses of sweeping robot, including spectacle-frame and leg of spectacles, Further include having camera, display screen, control circuit and radiating circuit；Wherein camera and display screen are mounted on spectacle-frame, control Circuit processed is mounted on the leg of spectacles of glasses；Control circuit includes video processing module, sweeper icon-based programming module, position Signal identification module, telecommand generation module and coding module；The output of control circuit, is connected to radiating circuit, by emitting Circuit will emit by the telecommand of coding.(operation principle and function the visual remote control institute as the aforementioned of each module The content stated)；
The operation principle of video frequency remote-control glasses and visual remote control above-mentioned are the same, are had the advantage that：Operator It is completely dispensed with when being remotely controlled operation manually, and need to be only intended to gently rotate head according to remote control, make the scene graph in display screen As generating movement, and will wish on target location that sweeper is moved in the anchor window alignment scene image in display screen, Just can be remotely controlled driving sweeper move to reach the position, veritably realize " eyes see to where, sweeper is just moved to that In " technique effect, use is extremely convenient and interesting.
Invention additionally discloses the sweeping robots and its remote position controlled that carry out remote position controlled to sweeper using positioning light beam Method.Its sweeping robot equally includes sweeper；Sweeper equally includes power supply (battery), for controlling sweeper traveling With the intelligent control circuit swept the floor, for receive intelligent control circuit instruct and drive executing agency work driving circuit and The executing agency of circuit drives driven；Executing agency includes for driving sweeper in the traveling mechanism of ground run and using It is swept the floor to ground or the floor sweeping mechanism of dust suction in realizing；It is characterized in that sweeping robot further includes having remote position controlled device； Sweeper further includes having remote-control receiving circuit, and the output of remote-control receiving circuit is connected to the intelligent control circuit of sweeper, distant When control receiving circuit receives the remote signal of remote position controlled device, sweeper is controlled according to telecommand by intelligent control circuit It is travelled.
The remote position controlled device includes radiating circuit, it is characterised in that：Further include have camera, control circuit and Luminous tube；Luminous tube is irradiated on target location, the target on ground for emitting a branch of light beam as positioning light beam A location spot is generated on position；Camera be used for absorb include sweeper image scene image；Control circuit is by letter Number process flow includes video processing module, witness marker identification module, sweeper icon-based programming module, position signal identification Module, telecommand generation module and telecommand coding module；The output of control circuit, is connected to radiating circuit.
Wherein video processing module is used to handle the vision signal of camera；Witness marker identification module is used in scene graph As in signal, identifying location spot；Sweeper icon-based programming module is used in scene picture signal, identifies sweeper Identify icon, (including the sweeper identification icon with front and back tropism)；Position signal identification module is for obtaining positioning light Position data in spot and each comfortable picture signal of sweeper identification icon, and be compared, obtain location spot and sweeper Identify relative position of the icon in picture signal；Telecommand generation module is used for according to location spot and sweeper identification figure The relative position being marked in picture signal obtains the telecommand of driving sweeper movement；Telecommand coding module (or referred to as Coding module) for the signal of telecommand to be encoded；Radiating circuit is used to launch the remote signal after coding.
It uses remote position controlled method of the light beam to sweeper progress remote position controlled, including：(1), by operator using positioning Remote controler sends out light beam as positioning light beam, and projects on the target location around sweeper, forms a hot spot, That is location spot；(that high light beam of existing toy laser transmitter projects can be used in light beam, alternatively, using common Luminous tube is formed plus beam condensing unit；Target location that is to say the position that operator wishes that sweeper moves to reach)；(2), lead to The camera on remote position controlled device is crossed towards hot spot and sweeper, intake includes the field scene of hot spot and sweeper, by regarding The processing of frequency processing module is scene image signal；(angle for the light beam that camera and luminous tube are sent out is the same and fixation )；(3), the control circuit of remote position controlled device identifies location spot in scene picture signal；If (scene image signal In do not identify location spot, illustrate that remote position controlled device does not send out positioning light beam, operator is not remotely controlled intention, then controls Circuit does not send out telecommand)；(4), control circuit identifies the identification icon of sweeper in scene picture signal；(such as In fruit scene image signal, the identification icon of sweeper is not identified, illustrate that sweeper does not fall within the scene of present viewing field In range, then control circuit does not send out telecommand)；(5), control circuit obtains location spot and sweeper identification icon is each Position data in comfortable picture signal, and be compared, show that location spot and sweeper identify icon in picture signal Relative position；(6), relative position of the control circuit according to location spot and sweeper identification icon in picture signal, obtains Driving sweeper is moved to the telecommand of location spot；(telecommand includes advancing, retreating, turn left, turn right etc.)；Work as scene In picture signal, when sweeper identification icon touches location spot, (i.e. sweeper identification icon occurs be overlapped with location spot When), control circuit stopping sends out telecommand；(7), control circuit passes through transmitting electricity by the signal of telecommand after coding Road is sent；(8) after, the remote-control receiving circuit of sweeper receives remote signal, telecommand is obtained by decoding, then defeated Go out the intelligent control circuit to sweeper, telecommand is executed by intelligent control circuit output driving executing agency, driving is swept Ground machine is moved to target location；Above-mentioned steps cycle executes.
Sweeper image recognition can be to have directive sweeper identification figure by the sweeper icon-based programming module Narration is not repeated herein with reference to the content of video frequency remote-control method above-mentioned in mark, recognition methods.
Remote position controlled device and remote position controlled method, with visual remote control above-mentioned and video frequency remote-control method, main work Make as principle with method is, the two the difference is that：1, video frequency remote-control generates an anchor window on a display screen, simulation Operator is remotely controlled where the sight being intended to, and comes alignment target position, and controls sweeper and moved to the target location, and positions distant Control carries luminous tube, can send out a branch of positioning light beam and come alignment target position, so no longer need to simulate an anchor window, (it is overlapping to position light beam in other words with anchor window)；2, due to positioning light beam project it is fixed to one can be formed when target location Position hot spot, location spot are visible, no longer need to observe by display screen, and display screen is omitted so can save, only in control electricity Picture signal is compared and treated inside road；3, correspondingly, video frequency remote-control method is that sweeper is identified to the position of icon Data carry out position comparison with the position data of anchor window, and to obtain telecommand, and it is by sweeper to position remote control method Identification icon is compared with the position data of location spot, to show that telecommand, principle are the same.
Remote position controlled method and the remote position controlled device of the present invention is in use, the hand-held remote position controlled device of operator, will position light Beam, which projects, wishes on place namely target location that sweeper is moved to, and the control circuit of remote position controlled device just automatically generates distant Control, which instructs, simultaneously drives sweeper to be moved to target location, realize " by light beam shine where, sweeper just it is mobile thereunto " effect Fruit, the extremely simple convenience of straighforward operation and interesting.
Description of the drawings Fig. 1 is the circuit block diagram of the visual remote control operation principle of the present invention.Fig. 2 is sweeping of being remotely-controlled The circuit block diagram of ground machine.Fig. 3 is a kind of structural schematic diagram (side view) of independent visual remote control.Fig. 4 is that the video is distant Control the structural schematic diagram (front view) of device.Fig. 5 is the scene image schematic diagram that remote controller displays screen is shown, (is not gone out in scene Existing sweeper).Fig. 6 is the scene image schematic diagram that remote controller displays screen is shown, (occurs sweeper in scene, and sweeper is not In the position of anchor window).Fig. 7 is the scene image schematic diagram that remote controller displays screen is shown, (sweeper moves to reach location window The position of mouth).Fig. 8 is the scene image schematic diagram that remote controller displays screen is shown, (anchor window re-moves other ground Side).Fig. 9 is the mobile approach schematic diagram that sweeper is moved to target location.Figure 10 is the knot of the video frequency remote-control glasses of the present invention Structure schematic diagram.Figure 11 is the structural schematic diagram (side view) for the remote position controlled device of the present invention being remotely controlled using positioning light beam. Figure 12 is the circuit block diagram of remote position controlled device operation principle.
Specific implementation mode is illustrated below according to attached drawing to how to implement the present invention.
It should be noted that present invention aims at the sweeping robot disclosed with unique distant control function and its remote control skills Art, and for realizing the relevant technologies of existing sweeping robot, including sweeping robot for travelling and sweeping the floor (dust suction) Executing agency's (by motor-driven electric operator), position detection, traveling control, sweep the floor (dust suction) control, automatic charging Etc. technologies, also realize wireless remote control the prior art, include the coding and decoding to telecommand, transmitting and reception, amplification With the technologies such as anti-interference, the prior art is belonged to.And circuit function according to the present invention, include the work of camera and display screen Make, the processing of vision signal, to the identification of special object in video signal, it is specific right to be obtained in video signal The position data of elephant, and position data to different objects comparison, also belong to the prior art of existing video technique field, It is widely used in video identification field and electronic game field, realizes the specific procedure of these functions, be the field technology The function and operation principle that personnel are described according to the present invention are not required to creative just achievable work.
Fig. 1 is the operation principle circuit block diagram of the visual remote control of the present invention.The present invention visual remote control, include Radiating circuit, it is characterised in that：Visual remote control further includes having video camera (abbreviation camera), video display screen (referred to as Display screen) and remote control control circuit；Camera be used for absorb include the scene for being remotely-controlled sweeper image；Display screen For showing video image；Remote control control circuit includes video processing module, sweeper map logo by signal processing flow Other module, position signal identification module, telecommand generation module and telecommand coding module, wherein：Video handles mould Block, the vision signal for handling camera are output to display screen and are shown, and generate fixed position in the picture Anchor window, while obtaining the position data of anchor window in the picture；Sweeper icon-based programming module, for regarding in scene In frequency signal, the identification icon of sweeper is identified；Position signal identification module, in scene picture signal, extraction to be swept The position data of ground machine identification icon, and be compared with the position data of anchor window, it obtains sweeper identification icon and determines The relative position of position window；Telecommand generation module, for according to sweeper identification icon and anchor window in picture signal Relative position, it is mobile or stop mobile telecommand to generate driving sweeper；(telecommand namely driving sweeper are to calmly The target location that position window is aligned move required remote control actions, for example advance, retreat, turn left, turn right etc.)；It is distant Instruction encoding module is controlled, for being encoded to telecommand；The output of remote control control circuit namely telecommand encode mould The output of block, is connected to radiating circuit.The telecommand after coding is emitted by radiating circuit.
Sweeper image recognition can be to have directive sweeper identification figure by wherein sweeper icon-based programming module It marks, is described in detail in the video frequency remote-control method that recognition methods will be discussed below.
Fig. 2 is the circuit block diagram for being remotely-controlled sweeper with visual remote control auxiliary work.Sweeper includes power supply (one As be rechargeable battery), for controlling sweeper traveling and the intelligent control circuit turned to, referring to for receiving intelligent control circuit Enable and drive the executing agency of the driving circuit and circuit drives driven of executing agency's work；Executing agency includes being used for band Dynamic sweeper is in the traveling mechanism of ground run and steering and for realizing being swept the floor to ground or the floor sweeping mechanism of dust suction. These are all the prior arts of sweeper.The sweeper of the present invention further includes having remote-control receiving circuit, and remote-control receiving circuit is used for The remote signal of remote controler transmitting is received, output is connected to intelligent control circuit, remote controler is received in remote-control receiving circuit Remote signal when, by intelligent control circuit control sweeper travelled according to telecommand.
The visual remote control of the present invention, can make independent hand-held remote controller, such as the visual remote control structural schematic diagram of Fig. 3 The structural schematic diagram (front view) of (side view) and Fig. 4.The independent visual remote control includes hand handle 1 and main body 2, and hand handle 1 can In being held in the hand for operator, 1 the inside of hand handle can also be equipped with battery.2 the inside of main body of remote controler is equipped with remote control circuit, Main body 2 is forward to be equipped with camera 3 on one side, and oriented manipulation person's is provided with display screen 4 on one side.
The work step of visual remote control, namely video frequency remote-control method of the invention, including：(1), by camera towards Scene image signal, is output on display screen after signal processing and shows by the scene at sweeper intake scene；Such as Fig. 5 The scene image 5 that shows of remote controller displays screen, (there is not sweeper in scene image 5)；(2), in the image of display screen On, an anchor window for corresponding to operator's eye position is set；(in such as Fig. 5, in the scene image 5 that display screen is shown Anchor window 6)；Control circuit is in picture signal, the position data of setting anchor window in the picture；(anchor window can be with It is directly to be fixed on the screen of display screen；It can also be the window icons for being set as virtual, and show on the image, this When anchor window relative to the absolute position of screen be fixed, but the relative position of the scene image relative to mobile variation is Mobile)；(3), operator is intended to according to remote control, dollying head, and the scene image of display screen display is made to generate movement, and So that anchor window alignment function person on display screen is wished that sweeper is moved on target location, (that is to say under operator's sweeper Where is one moved further, just will be directed at there relative to the anchor window of operator's sight)；(4), control circuit is in scene image In signal, the identification icon of sweeper is identified；(such as Fig. 6, in the scene image 5 that remote controller displays screen is shown, appearance is swept the floor The identification icon 7 of machine；If in scene image signal, not identifying the identification icon of sweeper, illustrating that sweeper does not exist In the scene domain of present viewing field, then remote control control circuit does not send out telecommand)；(5), remote control control circuit acquisition is swept Position data of the ground machine identification icon in picture signal, and be compared with the position data of anchor window, (anchor window exists Position on image is fixed, and position data is also setting and constant), the relative position both obtained, and obtained with this Go out the telecommand for driving sweeper to be moved to anchor window, (for example advance, retreat, turn left, turn right etc.)；Wherein work as scene graph In the signal of picture 5, when the identification icon of sweeper touches anchor window, (such as Fig. 7, the scene graph that remote controller displays screen is shown As in 5, sweeper identification icon 7 moves to reach the position of anchor window 6, sweeper identification icon and anchor window that is to say When position data is overlapped), the stopping of remote control control circuit sends out telecommand；(6), the signal of telecommand is by coding After circuit code, sent by radiating circuit；(7) after, the remote-control receiving circuit of sweeper receives remote signal, pass through Decoding obtains telecommand, then is output to the intelligent control circuit of sweeper, and telecommand has excellent in intelligent control circuit First permission can interrupt the original control instruction of intelligent control circuit, preferentially execute telecommand, and output is driven through overdrive circuit Telecommand is executed by executing agency after dynamic, driving sweeper is moved to target location, is executed advance, retrogressing, left-hand rotation, is turned right Etc. travelings action, naturally it is also possible to while movement while sweep the floor；Above-mentioned steps are that continuous cycle executes.
The anchor window recited above for corresponding to operator's eye position can be the rectangle constituted using colored lines Or the wicket of circle or other shapes；Can also be a colored hot spot or colored points；(actually and when window very little A kind of special circumstances).Position of the anchor window in display image, can be theoretically arranged in any position, but general Position between being arranged in the picture is most suitable.Anchor window can be direct fixed setting (such as printing) in the physics of display screen On screen, at this moment control circuit also needs the position data that the setting in picture signal corresponds to this anchor window；Positioning Window can also be the window icons for being set as virtual, and show on the image, (be similar to green above camera finding screen Color focusing wicket), at this moment anchor window is fixed relative to the absolute position of screen, but relative to the scene of mobile variation The relative position of image is mobile, moreover, the position data of anchor window in the picture is fixed.
Position of the anchor window in display image is fixed, is not moved with the movement of camera, so, on the spot When scape image changes with the movement of camera, anchor window just generates relative movement in scene image.It is equivalent to behaviour The position of the sight of author, operator can make scene image generate movement with dollying head, even if also the visual field generates shifting It is dynamic, and anchor window alignment function person is wished into the target location that sweeper moves to reach.
Identification of the remote control control circuit to the identification icon of sweeper, is generally realized using identification software, this belongs to Existing image recognition technology.It is simplest, sweeper can be identified as a point, it is opposite with anchor window to calculate it Position, and show that driving sweeper carries out mobile instruction to anchor window.But the various fortune due to sweeper on the ground It is dynamic to can be analyzed to advance, retrogressing, left-hand rotation, the shift action of right-hand rotation four direction and its synthesis, if sweeper is identified as one A point is controlled, then operator need anchor window is always placed on sweeper front end guide control just do not ask Topic, and when anchor window is moved to sweeper rear end, since at this moment sweeper is a point, it can not distinguish front and back Difference, in order to can will appear malfunction, this causes the inconvenience operated for institute.
In order to overcome this disadvantage, keep remote control more perfect, the present invention is improved, and sweeper is not identified as a point, But sweeper is identified as to have directive identification icon, it that is to say the front and back that sweeper is identified in picture signal To.In this way in scene image, if anchor window is moved to the rear end of sweeper by operator, (or left and right sides) is then remotely controlled The software of device control circuit just can recognize that anchor window is in the rear end of sweeper, and (or left and right sides) makes to sweep to send out Ground machine retreats the telecommand of (or left and right turn), and sweeper is made correctly to be moved to anchor window, keeps straighforward operation more convenient.
Sweeper is identified as to have directive identification figure calibration method, Ke Yishi：(1), according to the figure of sweeper itself The directive identification icon of tool is identified as signal.For example directly its front end is identified according to the appearance images of sweeper And tail end.This can directly use existing image recognition technology, (similar recognition of face, object identification etc.), its advantage is that making With facilitating, without changing original appearance of sweeper, the disadvantage is that identification software is more complicated, although there is canned software that can make With, but it is also higher to hardware requirement.(2), the marker with direction characteristic is provided in appearance in sweeper, identification software exists Identify that the directionality of sweeper identifies icon by the marker in picture signal.Simplest, marker can be one Asymmetrical color map.Software identifies the front-rear direction of sweeper according to this special sign thing, just easier.⑶、 It is provided with luminous tube on sweeper, the luminous pattern with direction characteristic is constituted by the light of luminous tube.For example it uses Three luminous tubes constitute the luminous pattern of directionality, or using a luminous tube light transmission piece of the cooperation with directionality shape come Constitute luminous pattern.This method is since sweeper identification icon can send out specific light, so software identification gets up more to hold Easily.The disadvantage is that needing to change sweeper appearance.
For in image information, sweeper identifies the calculating identification of the relative position of icon and anchor window and with this Judgement obtains the prior art that driving sweeper moves required instruction and video processing, is widely applied in electronic game. For example, the data that can identify the current field and row of icon present position by piece image video, obtaining sweeper, It is compared with the field of anchor window present position and the data (these data of anchor window are fixed) of row, to identify The relative position of the two, and judge to obtain that driving sweeper to move the remote controls such as required advance, retrogressing, left-hand rotation, right-hand rotation refers to this It enables.For example, in the scene image of Fig. 6, anchor window 6 identifies the upper left side of icon 7 in sweeper, then at this moment telecommand is just It is to advance to add left steering.
Certainly, this telecommand is not fixed, in dynamic adjustment, this is because the program of control circuit is Circular flow, in each operational process, procedure identification goes out sweeper identification icon and location window in scene image information The relative position of mouth obtains the instruction for driving sweeper to be moved to anchor window under current state, and by launching after coding It goes；Sweeper receives the signal, obtains telecommand by decoding, is executed instruction by executing agency after overdriving, is driven Sweeper is moved or is turned to adjustment, mobile to target location (namely position that anchor window is aligned in image).Under In operational process, program again identifies that out the opposite position of sweeper identification icon and anchor window in scene image information It sets, show that driving sweeper moves required new telecommand to anchor window again, if this instruction was instructed with last time Equally, then in order to economize on electricity, the instruction can not also be emitted, sweeper is still continued to move to by instruction before；And if due to Sweeper changes position after executing a upper instruction, causes new telecommand to keep up with telecommand difference, is then remotely controlled New command is encoded and is emitted by device control circuit, according to new telecommand after sweeper reception, readjusts movement side To continuation is more accurately moved to target location.
Clearly as camera shooting, image procossing, program operation, coding and decoding, transmitting and reception and executing agency pair The execution of instruction, is required for the regular hour, so action adjustment of the sweeper in moving process has the stagnant of certain time Afterwards, this can cause sweeper not direct and round and smooth in the approach moved to target location, constantly into line direction tune Tortuous traveling in whole.Sweeper as shown in Figure 9 is moved to the mobile approach 8 of target location 7.Its tortuous degree with The execution time of above-mentioned each link is related, chooses the faster processor of operating rate, improves program operation speed, can make movement Approach is more round and smooth.In addition, if be further improved, sweeper is allowed to execute steering order into target location moving process When, only not simple left-hand rotation turns right, but identifies the relative position of icon and anchor window according to sweeper, and generation is provided There are the steering order of steering angle, driving sweeper more accurately to be moved to target location, then moving approach also can be rounder and more smooth It is natural.
And when sweeper is moved to target location, namely the identification icon of sweeper is moved to anchor window in the picture On, (this can be the case where including or partly overlap), the position of sweeper identification icon in program namely in image information The data situation identical as the position data of anchor window appearance all or part is set, at this moment illustrates that sweeper is moved into mesh In cursor position, then remote control control circuit stopping sends out telecommand.The remote-control receiving circuit of sweeper is not received by remote control Instruction, then intelligent control circuit still works by its original program, and driving sweeper continues automatic running and sweeps the floor Work.Until operator makes remote control actions again, then above-mentioned remote control is carried out again.
During sweeper is moved to target location, operator can also dollying head at any time, by anchor window Otherwise (i.e. new target location) is re-moved, such as Fig. 8, in the scene image 5 that remote controller displays screen is shown, positioning Window 6 is re-moved to other place.At this moment program will identify that icon is opposite with new anchor window according to sweeper Position sends out new telecommand, and driving sweeper is moved to new target location, realizes continuous remote control in real time.
To work such as the coding of telecommand, decoding, transmitting, receptions, belong to the technology of existing toy remote control.Wherein emit And reception, the radio frequency method either modes such as infrared mode or bluetooth, WIFI may be used.And command signal is compiled Code effect, when improve anti-interference ability, second is that enable the sweeper of the remote controler and remote-control target be identified and Pairing, to realize unique remote control to the sweeper.
The visual remote control of the present invention when in use, is held by operator in hand, camera towards the sweeper being remotely-controlled, Intake includes in the scene image of sweeper and the display screen for the person that is shown in oriented manipulation, and operator moves the remote control in hand Device changes the scene image that camera is absorbed, keeps the anchor window (eye position relative to operator) in display screen right Quasi- operator wishes that the target location that sweeper moves to reach in next step, control circuit will pass through procedure identification, judge and send out Driving sweeper carries out mobile telecommand, and is emitted by radiating circuit after coding.And the sweeper being remotely-controlled, This remote signal is received, is decoded and obtains telecommand, execution is output to by intelligent control circuit and driving circuit Mechanism executes corresponding action, and driving sweeper is moved to target location, realize operator see to where sweeper just move to The remote control of there.
Video frequency remote-control method disclosed by the invention and visual remote control, by video image come sweeper is identified, Judge and controls, when being remotely controlled to sweeper, operator no longer needs to execute each step action with manual operation to control sweeper, But by sight (the small anchor window in display screen) see where, sweeper just automatically moves thereunto, so remote control is special It is simple and convenient and interesting.This remote control method controls the " dynamic of toy execution action with existing using remote control actions one by one It is remotely controlled " it is entirely different, it can be described as being " target remote control ".
It is used as a kind of extension, remote control technology of the invention can be produced with the mobile phone with video camera function or other numbers Product combine, i.e., are remotely controlled to sweeper using mobile phone or other digital products, become video frequency remote-control mobile phone.Required change For：1, the software of the remote control method of the present invention will be completed, (i.e. APP) downloads and run in mobile phone, utilize software And the original hardware and software resource of mobile phone, to realize including video processing module, sweeper icon-based programming module, position signal The function of identification module, telecommand generation module and telecommand coding module, and will be exported by the telecommand of coding Onto the communication interface of mobile phone；The blue tooth interface or WIFI interface of mobile phone can be used in communication interface), 2, the wireless communication of mobile phone connects The remote-control receiving circuit (needing using matched bluetooth communication or WIFI communication modules) of mouth and sweeper carries out wireless Connection.The function module that the center processing circuit operation remote control special-purpose software of mobile phone is realized, with the control of above-mentioned visual remote control The function module that circuit processed is realized is the same, and its operation principle and remote control method are one with video frequency remote-control method above-mentioned Sample, it is not repeated.Program staff just can complete these software programmings according to aforesaid operating principle and remote control method.Current Mobile video is mostly functional, also has zoom function mostly, can meet the requirement of the present invention.
The technology of above-mentioned video frequency remote-control mobile phone, with the difference of the existing prior art being remotely controlled to toy using mobile phone It is not：Existing mobile phone remote technology is that operator looks at toy on one side, on one side constantly by manual operation mobile phone key, or Swinging mobile phone manually makes body-sensing sensor generate inductive signal, constantly generates telecommand to drive toy to carry out each movement Action.Operator needs according to the continuous straighforward operation carried out step by step of remote control intention and toy position, is a kind of " act distant Control ", so it is cumbersome to operate.And the present invention is the hand-held mobile phone of operator, includes using the camera intake of mobile phone The scene image of sweeper, and the anchor window (sightline window for being equivalent to operator) on mobile phone screen is directed at scene image The middle target location wished sweeper and moved to reach, sweeper just receive it is Remote Control Automatic to target location move, the present invention according to The sight of operator controls the movement of sweeper, is a kind of video " target remote control ", the simpler convenience that operates and has Interest.
As a kind of unique and interesting design, visual remote control of the invention can also use the external form of Google glass Design, and be combined with the technology of the projection-type display screen of Google glass, it is to use the display screen of remote controler of the present invention It is distant to make video for the miniature projection-type display screen of Google glass being mounted on spectacle-frame, other technologies still using the present invention Control glasses.Structural schematic diagram such as Figure 10 of the video frequency remote-control glasses of the present invention, including spectacle-frame 11 and leg of spectacles 13, spectacle-frame 11 On be generally fitted with eyeglass 12.Further include having camera, display screen, remote control control circuit and radiating circuit；Wherein camera 14 and display screen 15 be mounted on spectacle-frame 11 on, remote control control circuit be mounted on glasses leg of spectacles 13 on；Control circuit packet Video processing module, sweeper icon-based programming module, position signal identification module, telecommand generation module and remote control are included Instruction encoding module；(content described in operation principle and the function visual remote control as the aforementioned of each module)；Remote control control The output of circuit, is connected to radiating circuit, is emitted telecommand by radiating circuit.
Wherein display screen 15 uses the miniature display screen of projection-type used by Google glass, small, can be mounted on eye Before mirror, image is projected to the image for making eyes see amplification to eyes, for details, reference can be made to the relevant technologies of Google glass. Miniature pinhole cameras can be used in camera 14, (the modular camera head as used by mobile phone), is mounted on two spectacle-frames On intermediate position.The power supply of video frequency remote-control glasses can be used the rechargeable battery of small size high-energy, and be mounted on leg of spectacles On.Due to the capacity limit by battery when in this way, it is suitable for, away from discrete time shorter straighforward operation, can also be used Power cord is simultaneously connected on the circuit of glasses by external connection battery.
The operation principle of video frequency remote-control glasses is with foregoing independent visual remote control, moreover, bringing Benefit be：Operator completely dispenses with manually when being remotely controlled operation, and need to be only intended to gently rotate head according to remote control, makes to show Scene image in display screen generates movement, and will wish that sweeper is moved in the anchor window alignment scene image in display screen Target location on, just can be remotely controlled driving sweeper move to reach the position, veritably realize " eyes see to where, sweep Ground machine just it is mobile thereunto " technique effect, use is extremely convenient and interesting.
Invention additionally discloses the sweeping robots and its remote position controlled that carry out remote position controlled to sweeper using positioning light beam Method.Its sweeping robot equally includes sweeper；Sweeper equally includes power supply (battery), for controlling sweeper traveling With the intelligent control circuit swept the floor, for receive intelligent control circuit instruct and drive executing agency work driving circuit and The executing agency of circuit drives driven；Executing agency includes for driving sweeper in the traveling mechanism of ground run and using It is swept the floor to ground or the floor sweeping mechanism of dust suction in realizing；It is characterized in that sweeping robot further includes having remote position controlled device； Sweeper further includes having remote-control receiving circuit, and the output of remote-control receiving circuit is connected to the intelligent control circuit of sweeper, distant When control receiving circuit receives the remote signal of remote position controlled device, sweeper is controlled according to telecommand by intelligent control circuit It is travelled.
Figure 11 is the structural schematic diagram (side view) of remote position controlled device.Remote position controlled device includes hand handle 16 and main body 17；Hand 16 the insides can be equipped with battery, 17 the inside of main body is equipped with control circuit, and main body 17 is provided in face of the front end of sweeper Luminous tube 18 and camera 19；Luminous tube 18 is thrown for sending out a branch of light beam 20 as positioning light beam, and by positioning light beam It is mapped on the target location around sweeper, forms a hot spot namely location spot.Existing toy can be used in light beam The high light beam of that of laser transmitter projects, alternatively, being formed plus beam condensing unit using common luminous tube；Target location It that is to say the position that operator wishes that sweeper moves to reach in next step.
Figure 11 is the circuit block diagram of light beam remote position controlled device operation principle.Remote position controlled device includes camera, control electricity Road and radiating circuit further include a luminous tube；Luminous tube is irradiated to and sweeps for emitting a branch of light beam as positioning light beam On target location around ground machine, location spot is formed；Camera is for absorbing scene image；Control circuit presses signal processing stream Journey includes video processing module, location spot identification module, sweeper icon-based programming module, position signal identification module, distant Control command generation module and telecommand coding module；The output of control circuit, is connected to radiating circuit, will by radiating circuit Remote signal is emitted.Wherein video processing module is used to handle the vision signal of camera；Witness marker identification module is used In in scene picture signal, location spot is identified；Sweeper icon-based programming module is used in scene picture signal, identification Go out the identification icon of sweeper, (including the sweeper identification icon with front and back tropism)；Position signal identification module is used for The position data in location spot and each comfortable picture signal of sweeper identification icon is obtained, and is compared, obtains positioning light The relative position of spot and sweeper identification icon in picture signal；Telecommand generation module is used for according to location spot and sweeps Relative position of the ground machine identification icon in picture signal, obtains the telecommand of driving sweeper movement；Telecommand encodes Module is for encoding the signal of telecommand；Radiating circuit is used to launch the remote signal after coding.
Its remote position controlled method, (work step that is to say remote position controlled device), including：(1), remote position controlled device sends out one Beam light beam is projected as positioning light beam on the target location around sweeper, forms a hot spot, namely positioning light Spot；(2), by camera towards location spot and sweeper, intake includes location spot and the field scene of sweeper, by Video processing module processing is scene image signal；(angle for the positioning light beam that camera is sent out with luminous tube is consistent and solid Fixed, so the camera angle of camera is always followed by the projecting direction of positioning light beam)；(3), control circuit is in scene image In signal, location spot is identified；(hot spot of the specific color of such a high brightness is identified in the picture, is to be easier 's.If not identifying location spot in scene image signal, illustrate that remote controler does not send out positioning light beam, operator does not have Remote control is intended to, then control circuit does not send out any telecommand)；(4), control circuit is identified and is swept the floor in scene picture signal The identification icon of machine；(recognition methods is as foregoing video frequency remote-control method.If in scene image signal, do not know The identification icon for not going out sweeper, illustrates that sweeper is not fallen in the scene domain of present viewing field, then control circuit is not sent out Telecommand)；(5), control circuit obtains the position data in location spot and each comfortable picture signal of sweeper identification icon, And be compared, obtain the relative position of location spot and sweeper identification icon in picture signal；(6), control circuit according to The relative position of location spot and sweeper identification icon in picture signal, show that driving sweeper is moved to location spot Telecommand；(for example advance, retreat, turn left, turn right etc.)；Wherein in scene picture signal, sweeper identifies icon contact When to location spot, (when i.e. sweeper identification icon partly overlaps with location spot), control circuit stopping sends out remote control Instruction；(7), control circuit is sent by the signal of telecommand after coding by radiating circuit；(8), sweeper is distant After control receiving circuit receives signal, telecommand is obtained by decoding, then be output to the intelligent control circuit of sweeper, in intelligence Telecommand has limit priority in energy control circuit, can interrupt the original control instruction of intelligent control circuit, preferentially execute remote control Instruction executes telecommand after overdrive circuit drives by executing agency, and driving sweeper is moved to target location, is executed The travelings action such as advance, retrogressing, left-hand rotation, right-hand rotation, naturally it is also possible to sweep the floor when moving；Above-mentioned steps are that continuous cycle executes 's.
Sweeper image recognition can be to have directive sweeper identification figure by the sweeper icon-based programming module Narration is not repeated herein with reference to the content of video frequency remote-control method above-mentioned in mark, recognition methods.
Remote position controlled device and remote position controlled method, it is main with the visual remote control and video frequency remote-control method of the foregoing description Operation principle with method be as, narration is not repeated herein.The two the difference is that：1, video frequency remote-control is on a display screen Generate an anchor window, simulated operator remote control be intended to sight where, come alignment target position, and control sweeper to this Target location is moved, and remote position controlled carries luminous tube, and can send out a branch of positioning light beam comes alignment target position, and in target Position generates a location spot to substitute anchor window, so no longer needing to simulate an anchor window, (positions light in other words Beam is overlapping with anchor window)；2, since positioning light beam is projected to that can form a location spot when target location, light is positioned Spot is visible, and no longer needs to observe by display screen, and display screen is omitted so can save, and is only believed image inside control circuit It number is compared and treated；3, correspondingly, video frequency remote-control method is to identify the position data of icon with anchor window sweeper Position data carry out position comparison, to obtain telecommand, and position remote control method be by sweeper identification icon with positioning The position data of hot spot is compared, to obtain telecommand.(its certain principle is the same).
Remote position controlled method and the remote position controlled device of the present invention is in use, operator's hand-held remote controller, positioning light beam is thrown It is mapped to and wishes on position namely target location that sweeper is moved to, form a small light spot, control circuit just automatically generates distant Control, which instructs, simultaneously drives sweeper to be moved to target location, realize " by light beam shine where, sweeper just it is mobile thereunto " effect Fruit, straighforward operation are extremely convenient interesting.

Claims (10)

1. a kind of sweeping robot with video frequency remote-control, including sweeper；Sweeper includes power supply, for controlling sweeper Intelligent control circuit, driving circuit and the executing agency for travelling and sweeping the floor；It is characterized in that：Sweeping robot further includes regarding Frequency remote controler；Sweeper further includes having remote-control receiving circuit, and the output of remote-control receiving circuit is connected to the intelligent control of sweeper Circuit controls sweeper by intelligent control circuit and presses when remote-control receiving circuit receives the remote signal of visual remote control It is travelled according to telecommand.
2. sweeping robot according to claim 1, it is characterised in that：The visual remote control includes transmitting electricity Road, video camera, video display screen and remote control circuit；Camera includes the sweeper figure being remotely-controlled for absorbing The scene image of picture；Display screen is used for display scene images；Remote control circuit includes video processing by signal processing flow Module, sweeper icon-based programming module, position signal identification module, telecommand generation module and coding module, wherein：Depending on Frequency processing module is used to handle the vision signal of camera, is output to display screen and is shown, and generates one in the picture admittedly The anchor window set is positioned, while obtaining the position data of anchor window in the picture；Sweeper icon-based programming module is used for The identification icon of sweeper is identified in scene image signal；Position signal identification module in scene picture signal for extracting The position data of anchor window and sweeper identification icon, and the position data of the two is compared, show that sweeper identifies The relative position of icon and anchor window；Telecommand generation module is used for according to sweeper identification icon in picture signal and determines The relative position of position window generates the telecommand of driving sweeper movement；Coding module is for encoding telecommand； The output of remote control circuit is connected to radiating circuit, is emitted by radiating circuit.
3. a kind of video frequency remote-control method of sweeping robot, sweeping robot includes sweeper and visual remote control, video Remote control method includes：(1), using visual remote control by scene of the camera towards sweeper intake scene, by signal processing Scene image signal is output on video display screen afterwards and is shown；(2), on the image of display screen, setting one corresponds to The anchor window of operator's eye position；The control circuit of visual remote control is in picture signal, and setting anchor window is in image In position data；(3), operator is intended to according to remote control, dollying head, and the scene image of display screen display is made to generate shifting It is dynamic, and make on the target location that anchor window alignment function person on display screen wishes that sweeper is moved to；(4), remote control control electricity The identification icon of sweeper is identified in scene picture signal in road；(5), remote control control circuit obtains sweeper and identifies icon Position data in picture signal, and be compared with the position data of anchor window, the relative position of the two is obtained, with this Show that driving sweeper is moved to the telecommand of anchor window；(in scene picture signal, the identification icon of sweeper contacts When to anchor window, the stopping of remote control control circuit sends out telecommand)；(6), the signal of telecommand passes through after coding Radiating circuit is sent；(7) after, the remote-control receiving circuit of sweeper receives remote signal, obtain remote control by decoding and refer to It enables, is output to intelligent control circuit, control sweeper by intelligent control circuit is travelled according to telecommand.Above-mentioned steps Cycle executes.
4. the sweeping robot according to claim 2 with video frequency remote-control or machine according to claim 3 of sweeping the floor The video frequency remote-control method of people, it is characterised in that：Sweeper image recognition can be tool by the sweeper icon-based programming module Directive sweeper identifies icon.
5. the sweeping robot according to claim 4 with video frequency remote-control or machine according to claim 4 of sweeping the floor The video frequency remote-control method of people, it is characterised in that：It is described that sweeper is identified as to have directive identification figure calibration method, it can be with It is：(1) the directive identification icon of tool, is identified according to the picture signal of sweeper itself.Or：(2), outside sweeper The marker with direction characteristic is provided in sight, identification software identifies sweeper in picture signal by the marker Directionality identify icon.Or：(3) it, is provided with luminous tube on sweeper, is made of with direction the light of luminous tube Property feature luminous pattern, software by this luminous pattern come identify sweeper directionality identify icon.
6. a kind of sweeping robot with remote position controlled, includes sweeper；Sweeper includes power supply, sweeps the floor for controlling Intelligent control circuit, driving circuit and the executing agency that machine travels and sweeps the floor；It is characterized in that：Sweeping robot further includes having Remote position controlled device；Sweeper further includes having remote-control receiving circuit, and the output of remote-control receiving circuit is connected to the intelligence control of sweeper Circuit processed controls sweeper when remote-control receiving circuit receives the remote signal of remote position controlled device by intelligent control circuit It is travelled according to telecommand.
7. the sweeping robot according to claim 6 with remote position controlled, it is characterised in that：The remote position controlled device Include radiating circuit, camera, control circuit and luminous tube；Luminous tube shines for emitting light beam as positioning light beam It is mapped on the target location on ground, a location spot is generated in the target location on ground；Camera includes to sweep for absorbing The scene image of ground machine image；Control circuit by signal processing flow include video processing module, witness marker identification module, Sweeper icon-based programming module, position signal identification module, telecommand generation module and coding module；Control circuit it is defeated Go out to be connected to radiating circuit；Wherein：Video processing module is used to handle the vision signal of camera；Witness marker identification module is used In identifying location spot in scene picture signal；Sweeper icon-based programming module in scene picture signal for identifying The identification icon of sweeper；Position signal identification module is for obtaining location spot and each comfortable image letter of sweeper identification icon Position data in number, and be compared, obtain the relative position of location spot and sweeper identification icon in picture signal； Telecommand generation module is used for the relative position in picture signal according to location spot and sweeper identification icon, obtains drive The telecommand of dynamic sweeper movement；Coding module is for encoding the signal of telecommand；Radiating circuit is used for will be distant Control signal is launched.
8. the sweeping robot according to claim 7 with remote position controlled, it is characterised in that：The sweeper icon Sweeper image recognition can be to have directive sweeper to identify icon by identification module.
9. the sweeping robot according to claim 8 with remote position controlled, it is characterised in that：It is described to identify sweeper To have directive identification figure calibration method, Ke Yishi：(1) side, is had to identify according to the picture signal of sweeper itself The identification icon of tropism.Or：(2), the marker with direction characteristic is provided in appearance in sweeper, identification software is being schemed As identifying that the directionality of sweeper identifies icon by the marker in signal.Or：(3), hair is provided on sweeper Light pipe constitutes the luminous pattern with direction characteristic by the light of luminous tube, and software is identified by this luminous pattern Go out the directionality identification icon of sweeper.
10. the sweeping robot according to claim 1 or 2 with video frequency remote-control or one kind according to claim 3 The sweeping robot with remote position controlled described in the video frequency remote-control method or according to claim 6 or 7 of sweeping robot, It is characterized in that：The executing agency includes for driving sweeper in the traveling mechanism of ground run and for realizing over the ground Face is swept the floor or the floor sweeping mechanism of dust suction.
CN201810192060.6A 2018-03-08 2018-03-08 A kind of sweeping robot and its control method Pending CN108403009A (en)

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CN113014658A (en) * 2021-03-10 2021-06-22 北京蜂巢世纪科技有限公司 Device control, device, electronic device, and storage medium
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Application publication date: 20180817