CN108888187A - A kind of sweeping robot based on depth camera - Google Patents
A kind of sweeping robot based on depth camera Download PDFInfo
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- CN108888187A CN108888187A CN201810546677.3A CN201810546677A CN108888187A CN 108888187 A CN108888187 A CN 108888187A CN 201810546677 A CN201810546677 A CN 201810546677A CN 108888187 A CN108888187 A CN 108888187A
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- sweeping robot
- depth camera
- depth
- information
- driving
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Classifications
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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
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention discloses the sweeping robots based on depth camera, including shell and the depth camera being set on shell, sensor device, walking mechanism, cleaning device, driving assembly and control device；The color information and depth information for the space environment that control device is acquired according to depth camera carry out positioning and the building of ambient enviroment map to sweeping robot, and plan sweep-out pattern accordingly；Sweeping robot is controlled by driving assembly to be moved according to the sweep-out pattern planned, and the moving direction of mobile robot is adjusted according to the heat transfer agent of the surrounding enviroment of sensor array acquisition in real time in moving process；Control device is also used to control cleaning assemblies according to cleaning modes set by user by driving assembly and execute corresponding clean.Sweeping robot of the invention can capture spatial information more abundant, to accurately construct map, realize the planning of sweep-out pattern, and cost substantially reduces.
Description
Technical field
The present invention relates to field in intelligent robotics more particularly to a kind of sweeping robots based on depth camera.
Background technique
Household floor-sweeping machine device people can significantly replace user to complete housework and clean task, and positioning with map structuring is to sweep the floor
The content of core the most in robot cleaning process.The sweeping robot of country's mainstream is using laser radar as map structuring at present
With the main means of navigation, since laser radar is 2D sensor, the Limited information detected, it is difficult to construct more complicatedly
Figure, such as semantic map, while the higher cost of laser radar.
It is low in cost there are no occurring currently on the market, and spatial information more abundant can be captured, so as to more precisely
Completion clean sweeping robot.
Summary of the invention
The present invention provides a kind of sweeping robot based on depth camera, defies capture in the prior art more to solve
Spatial information abundant constructs complicated map, technical problem at high cost.Specifically, technical scheme is as follows：
The invention discloses a kind of sweeping robots based on depth camera, including shell, further include：Depth camera, peace
Top loaded on the shell, for acquiring the environmental color information and depth information on sweeping robot periphery；Sensor device,
It is installed on the shell, the heat transfer agent of surrounding enviroment when for acquiring sweeping robot movement；Walking mechanism, installation
In the bottom of the shell, for driving sweeping robot mobile under the driving of driving assembly；Cleaning device is set to described
On shell, for cleaning ground under the driving of the driving component；The driving component, with the walking mechanism and cleaning group
Part transmission connection；Control device is used for according to the driving component, depth camera and sensor array communication connection
The color information and depth information of the space environment of depth camera acquisition carry out positioning and ambient enviroment to the sweeping robot
The building of map, and sweep-out pattern is planned according to the environmental map built；By the driving component control described in sweep
Floor-washing robot is moved according to the sweep-out pattern planned, and is acquired in moving process according to the sensor array
Surrounding enviroment heat transfer agent, adjust the moving direction of the mobile robot in real time；The control device is also used to basis
Cleaning modes set by user control the cleaning assemblies by the driving component and execute corresponding clean.
Preferably, the depth camera is TOF camera, including：Control circuit, for carrying out high frequency modulation to transmitting light pulse
System；Transmitting unit is electrically connected to the control circuit, for emitting continuous light pulse under control circuit control；TOF
Sensing unit is electrically connected to the control circuit, and for obtaining the color information of space environment, and receives the transmitting unit hair
The light pulse penetrated encounters the light pulse returned after object；Processing circuit is electrically connected with the TOF sensing unit, for described
The image information that TOF sensing unit obtains carries out error correction, and calculates the depth information of image.
Preferably, the TOF sensing unit includes：Bandpass filter returns to light pulse, the return light arteries and veins for receiving
It rushes consistent with the optical pulse frequency that the transmitting unit emits；Optical lens is connected, for focusing with the bandpass filter
Light, and receive through the filtered light pulse of the bandpass filter；TOF sensor is connect, for recording with the optical lens
Phase information between the RGB color multimedia message of the ambient image, and the light pulse and return light pulse of transmitting.
Preferably, the depth camera is binocular camera, including：Image capture module, for being taken the photograph by left and right two
As head shooting environmental image；Data processing module, the ambient image for being shot according to described image acquisition module, in conjunction with described
The parameter information of binocular camera calculates the depth information of the ambient image.
Preferably, the sensor device includes：Obstacle avoidance sensor array, including several infrared sensors, are installed respectively
In the housing sidewall, for measuring whether direction of advance has barrier.
Preferably, the sensor device includes crash sensor, is mounted in the housing sidewall, for perceiving
Whether collision is had between the shell and barrier；
Preferably, the sensor device includes dropproof sensor array, the dropproof sensor array packet
Include several infrared sensors, be separately positioned on the different location at the housing bottom edge, for measure the housing bottom with
The distance on ground.
Preferably, the walking mechanism includes：Power wheel is made of left power wheel, right power wheel；Pacify on the power wheel
Equipped with odometer, for recording the distance of the power wheel traveling；Universal wheel, it is smooth for turning to and controlling.
Preferably, the cleaning device includes：Sweep the floor component, the side including being installed on the housing bottom brushes, round brush and
Integrated box；For carrying out operation of sweeping the floor to the housing bottom region；Mop floor component, including being mounted on dragging for the housing bottom
Cloth, and it is mounted on the water tank of the case top；For carrying out the operation that mops floor to the housing bottom.
Preferably, the driving component includes：Power turbin generator group, motor and driving including driving left power wheel are right dynamic
The motor of wheels；Sweep the floor motor group, including drive while brush clean while the round brush motor that cleans of brush motor and driving round brush；It drags
Ground motor, for driving mop to mop floor.
The present invention is included at least with the next item down technical effect：
(1) sweeping robot of the present invention can capture spatial information more abundant by depth camera, to be subsequent
The building of map provides more accurate foundation, and camera advantage of lower cost.
(2) depth camera of sweeping robot of the present invention uses TOF camera, by emitting light pulse, and receives return light
Pulse obtains light pulse operation transmitting with receiving time difference to calculate at a distance from object and sweeping robot, obtains depth information,
Scheme is realized simply, at low cost, and accuracy is high.
(3) depth camera of sweeping robot of the present invention is also using the principle of binocular imaging, using binocular camera reality
The acquisition of existing environmental color information and depth information, the ambient image obtained by binocular camera can obtain view from image
Difference calculates the depth of field, to obtain depth information, the depth information that the program obtains is accurate, convenient for the accurate structure of subsequent map
It builds.
(4) settable a plurality of types of sensors on sweeping robot of the present invention, detect the different heat transfer agents of environment, from
And allow moving direction of the control device more comprehensively according to these environmentally sensitive information real-time control sweeping robots.
(5) cleaning device of sweeping robot of the present invention includes sweep the floor component and the component that mops floor, by the way that different works is arranged
Operation mode realizes different cleaning methods, meets the demand of sweeping the floor and mop floor of user.Improve the Experience Degree of user.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is that the present invention is based on the embodiments of the sweeping robot of depth camera to connect block diagram；
Fig. 2 is that the present invention is based on the TOF camera connection schematic diagrams in another embodiment of the sweeping robot of depth camera；
Fig. 3 is that the present invention is based on the TOF camera schematic illustrations in another embodiment of the sweeping robot of depth camera；
Fig. 4 is that the present invention is based on the Binocular Vision Principle schematic diagrames in another embodiment of the sweeping robot of depth camera；
Fig. 5 is that the present invention is based on the top surface signals of sweeping robot in another embodiment of the sweeping robot of depth camera
Figure；
Fig. 6 is that the present invention is based on the bottom surface signals of sweeping robot in another embodiment of the sweeping robot of depth camera
Figure；
Fig. 7 is that the present invention is based on the side signals of sweeping robot in another embodiment of the sweeping robot of depth camera
Figure.
Appended drawing reference：
100-- depth camera；200-- sensor device；300-- driving assembly；400-- walking mechanism；500-- sanitizer cartridge
It sets；600-- control device；10-- processing circuit；20--TOF sensing unit；30-- control circuit；40-- transmitting unit；21--
Bandpass filter；22-- optical lens；23--TOF sensor；101-- water tank；102-- switch；103-- indicator light；104-- is deep
Spend camera；201-- dust-collecting box；The dropproof sensor of 202--；203-- mop；204-- power wheel；205-- round brush；206-- fills
Electrical pickoff；The side 207-- brush；208-- universal wheel；301-- depth camera；302-- crash sensor；303-- obstacle avoidance sensor
Array；304-- universal wheel；305-- power wheel.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
The present invention provides a kind of sweeping robot based on depth camera, including shell, further includes：Depth camera, installation
In the top of the shell, for acquiring the environmental color information and depth information on sweeping robot periphery；Sensor device, peace
Loaded on the shell, for acquire the sweeping robot it is mobile when surrounding enviroment heat transfer agent；Walking mechanism is installed on
The bottom of the shell, for driving sweeping robot mobile under the driving of driving assembly；Cleaning device is set to the shell
On body, for cleaning ground under the driving of the driving component；The driving component, with the walking mechanism and cleaning assemblies
Transmission connection；Control device is used for the driving component, depth camera and sensor array communication connection according to the depth
The color information and depth information for spending the space environment of camera acquisition, with carrying out positioning and ambient enviroment to the sweeping robot
The building of figure, and sweep-out pattern is planned according to the environmental map built；By the driving component control described in sweep the floor
Robot is moved according to the sweep-out pattern planned, and according to sensor array acquisition in moving process
The heat transfer agent of surrounding enviroment adjusts the moving direction of the mobile robot in real time；The control device be also used to according to
The cleaning modes of family setting control the cleaning assemblies by the driving component and execute corresponding clean.
The connection block diagram for each device being arranged on the shell of sweeping robot in the present embodiment is as shown in Figure 1, control device
600 connect with depth camera 100, sensor device 200, driving assembly 300 respectively, driving assembly 300 and cleaning device 500,
Walking mechanism 400 connects.In the present embodiment, sweeping robot surrounding enviroment image is shot by depth camera, obtains ambient color
Multimedia message and depth information, consequently facilitating control device carries out self poisoning and building ground according to the information that depth camera obtains
Figure realizes route planning.
In terms of depth camera, the acquisition of spatial information can be accomplished in several ways.Including：
(1)TOF(Time OfFlight)：TOF system is a kind of optical detection and ranging system, can emit light from emitter to object
Pulse, when receiver then can be by calculating light pulse from transmitter to object, then returning to the operation of receiver with pixel format
Between determine the distance of measured object.
Specifically, TOF camera structural schematic diagram is as shown in Fig. 2, include so that depth camera is TOF camera as an example：Control electricity
Road 30, for carrying out high frequency modulated to transmitting light pulse；Transmitting unit 40 is electrically connected with the control circuit 30, in institute
State the continuous light pulse of the lower transmitting of the control of control circuit 30；TOF sensing unit 20 is electrically connected with the control circuit 30, is used for
The color information of space environment is obtained, and receives the light pulse that the transmitting unit 40 emits and encounters the light arteries and veins returned after object
Punching；Processing circuit 10 is electrically connected with the TOF sensing unit 20, the image information for obtaining to the TOF sensing unit 20
Error correction is carried out, and calculates the depth information of image.
Preferably, as shown in figure 3, the TOF sensing unit 20 includes：Bandpass filter 21, for receiving return light arteries and veins
Punching, the return light pulse are consistent with the optical pulse frequency that the transmitting unit 40 emits；Optical lens 22 is filtered with the band logical
Mating plate 21 is connected, for focusing light transmission, and reception through the filtered light pulse of the bandpass filter 21；TOF sensor 23, with
The optical lens 22 connects, for recording the RGB color multimedia message of the ambient image, and light pulse and the return light arteries and veins of transmitting
Phase information between punching.
TOF depth camera is used to obtain the color information and depth information in space, wherein the acquisition of color information and common
Camera imaging principle is consistent, acquisition be image RGB color multimedia message.The acquisition methods of depth information are as follows：First actively to
Target sends continuous light pulse, then receives the light of return, calculates target and camera by the time of measurement light pulse flight
Between distance.The depth information of entire image can be directly obtained by this method.That is, the control circuit 30 in Fig. 3
Transmitting light for launching transmitting unit 40 carries out high frequency modulated, and controls TOF sensor 23 and connect to light pulse is returned
It receives；Transmitting unit 40 is for going out the light pulse emission that control circuit 30 modulates；Optical lens 22 and bandpass filter 21
For receive return light pulse, wherein the effect of bandpass filter 21 be guarantee only with transmitting the consistent light of optical pulse frequency
It can just be received；TOF sensor 23 is used to record the RGB color multimedia message of image, and transmitting light pulse and return light pulse it
Between phase information；Processing circuit 10 is used to carry out error correction to the received image information of TOF sensor, and calculates whole picture figure
The depth information of picture.
(2) binocular camera is used, is realized using binocular imaging (Stereo System) scheme.Specifically, using double
Camera shoots object, then calculates object distance by Triangle Principle.
Existing sweeping robot generally uses monocular cam, and monocular cam needs to be formed by the movement of camera
Then parallax calculates the depth information of target, on the one hand need that depth information could be calculated under conditions of movement, confidence level is not
On the other hand there is scale uncertainty in height.And binocular camera then can effectively overcome these technological deficiencies.
Binocular camera mould group is used to obtain the color information in space, and is estimated by the image of the 2 camera acquisitions in left and right
The depth information of target out, wherein camera uses cameras with fixed focus, focal length f.Space pixel under the conditions of binocular vision
As shown in figure 4, P is a certain space pixel, PL and PR are respectively picture of the P in the camera imaging plane of left and right for imaging, SL and
SR is respectively the lateral shift of PL and PR on imaging plane, and OL and OR are respectively the optical center of left and right camera, two optical centers it
Between distance, i.e. parallax range is b, and focal length f, D are calculative target depth information.It can be calculated by triangulation
Target depth D：
Wherein, Δ is the parallax of left and right picture point, and by binocular sensor real-time measurement, b and f are camera internal reference, when leaving the factory
Complete calibration.
Sweeping robot of the invention gets the color of the space environment image around sweeping robot by depth camera
After multimedia message and depth information, control device can position self-position accordingly, and construct three-dimensional space environment, obtain locally
Figure, with the movement of sweeping robot, local map is constantly supplemented and is expanded, certainly, in order to guarantee local map
Correctness can optimize processing to local map, for example carry out the method for Kalman filtering or nonlinear optimization to part
Map is modified, to eliminate cumulative errors.When sweeping robot returns origin-location, meets closed loop detection, then illustrate
Sweeping robot has got indoor all ambient images, obtains global map.Then it can be pressed according to global map
Sweep-out pattern is planned according to preset route planning strategy.It is executed to control sweeping robot according to the sweep-out pattern of planning
It cleans.
In addition to this, can also some sensor devices be arranged on sweeping robot again in we, pass through the various sensings of installation
Device can acquire the environmentally sensitive information on periphery, consequently facilitating sweeping robot work adjusts in real time when mobile.Specifically, sweeping
Any one or more following sensor can be installed on floor-washing robot：
Obstacle avoidance sensor array, including several infrared sensors, are separately mounted in the housing sidewall, before measuring
Whether there is barrier into direction.It generally, can be in the first half week side wall of sweeping robot in order to reach better avoidance effect
On be uniformly arranged several infrared sensors, for measuring front obstacle information in all directions.
Whether crash sensor is mounted in the housing sidewall, touch between the shell and barrier for perceiving
Hit generation.Likewise, crash sensor can be arranged on the preceding half cycle of sweeping robot side wall, so that during advancing once
Collide to perceive in time, to allow control module adjustment direction accordingly in time.
Dropproof sensor array, including several infrared sensors are separately positioned on the difference at the housing bottom edge
Position, for measuring the housing bottom at a distance from ground.
Certainly, other than above-mentioned several sensors, it can also increase and be set on other sensing equipments, such as certain sweeping robot
It is equipped with Inertial Measurement Unit, crash sensor, odometer, obstacle avoidance sensor array, dropproof sensor array etc., is responsible for sweeping the floor
Robot carries out corresponding real-time measurement in the process of walking.
In terms of walking mechanism, walking mechanism includes：Power wheel is made of left power wheel, right power wheel；On the power wheel
Odometer is installed, the distance advanced for recording the power wheel；Universal wheel, it is smooth for turning to and controlling.
In terms of cleaning device, including：It sweeps the floor component, the side including being installed on the housing bottom brushes, round brush and integrated
Box；For carrying out operation of sweeping the floor to the housing bottom region；Mop floor component, the mop including being mounted on the housing bottom,
And it is mounted on the water tank of the case top；For carrying out the operation that mops floor to the housing bottom.For example, when sweeping robot is set
It is set to when sweeping the floor mode, then control device is just worked by driving assembly driving component of sweeping the floor；When sweeping robot is set
It is set to when mopping floor mode, then control device carries out mopping up work by the driving assembly driving component that mops floor.
Corresponding, driving assembly is by side brush motor, round brush motor, tank switch, mop motor, left power turbin generator, the right side
The composition such as power turbin generator, each driving motor drive corresponding equipment, to realize that sweeping robot is completed mobile and cleaning and appointed
Business.
Another embodiment of sweeping robot of the present invention is broadly divided into sensory perceptual system, running gear, cleaning systems and control
System processed.Sensory perceptual system is responsible for the ambient enviroment of complete perception sweeping robot, including spatial color information, depth of view information, row
Walk information, barrier and collision information etc.；Running gear be responsible for controlling sweeping robot carried out in region to be cleaned it is mobile and
It turns to；Cleaning systems are responsible for the region passed by sweeping robot and carry out cleaning work or the operation that mops floor；Control system is main
It is responsible for follow-up sensory perceptual system and obtains image color information and depth of view information building map, and plan movement routine, controls sweeper
The running gear of device people is moved according to the movement routine planned, while being carried out clearly in moving process by cleaning systems
It sweeps.In addition, walking information, obstacle information and collision information etc. of the control device also according to sensory perceptual system, in real time adjustment control
The moving direction of sweeping robot, avoiding obstacles.
Sensory perceptual system mainly includes depth camera, crash sensor, obstacle avoidance sensor array, dropproof sensor array.
For sweeping robot top schematic diagram as shown in figure 5, depth camera 104 is mounted on the top of sweeping robot, direction is facing forward, is used for
Acquire the color information and depth of view information of space pixel；Water tank 101 is completed to mop floor for working together with mop.Indicator light 103
The various states of sweeping robot can be used to refer to, for example working station indicator, wifi connection indicator light, fault alarm refer to
Show lamp and battery capacity indicator light etc..
The side schematic view of sweeping robot is as shown in fig. 7, crash sensor 302 is used to perceive sweeping robot and obstacle
Whether there is collision between object, the preceding half cycle of sweeping robot side wall is set；Obstacle avoidance sensor array 303 is infrared by 5
Sensor composition, is separately mounted to half cycle before the side wall of sweeping robot, direction be followed successively by it is left, left front, in, it is right before, the right side, be used for
Whether measurement front has barrier；Dropproof sensor array is then mounted on the bottom of sweeping robot, specifically, Fig. 6 is to sweep
The schematic bottom view of floor-washing robot, wherein dropproof sensor 202 uses infrared sensor, it can be in sweeping robot bottom sides
Edge is uniformly arranged 6 infrared sensors, direction be followed successively by left, left front, left, right, be right before, it is right, for measuring sweeper bottom
The distance of portion from the ground.
Running gear mainly includes power wheel 204 and universal wheel 208.Power wheel is made of left power wheel and right power wheel,
Each power wheel is individually controlled by a motor, and odometer is equipped on power wheel, for recording the distance of power wheel traveling；Ten thousand
It is follower to wheel, for turning to and controlling balance.
Cleaning systems mainly include side brush 207, round brush 205, dust-collecting box 201, mop 203, water tank 101 (Fig. 6 is not shown,
It is shown in Fig. 5).While brush by while brush motor control, be responsible for cleaning corner, round brush is responsible for sweeping robot by round brush motor control
Bottom section works together with dust-collecting box；By mop motor control, be responsible for mopping floor works together with water tank mop.Cleaning systems
Including 2 kinds of operating modes of the mode of sweeping and drag mode formula, under the mode of sweeping, side brush, round brush, dust-collecting box are worked at the same time, mop and water tank
It does not work；Under drag mode formula, mop and water tank work, side brush, round brush, dust-collecting box do not work.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of sweeping robot based on depth camera, including shell, which is characterized in that further include：
Depth camera is installed on the top of the shell, for acquiring the environmental color information and depth on sweeping robot periphery
Information；
Sensor device is installed on the shell, the sensing letter of surrounding enviroment when for acquiring sweeping robot movement
Breath；
Walking mechanism is installed on the bottom of the shell, for driving sweeping robot mobile under the driving of driving assembly；
Cleaning device is set on the shell, for cleaning ground under the driving of the driving component；
The driving component is sequentially connected with the walking mechanism and cleaning assemblies；
Control device is used for the driving component, depth camera and sensor array communication connection according to the depth phase
The color information and depth information of the space environment of machine acquisition carry out positioning and ambient enviroment map to the sweeping robot
Building, and sweep-out pattern is planned according to the environmental map built；By the driving component control described in sweep the floor machine
People moves according to the sweep-out pattern planned, and the periphery acquired in moving process according to the sensor array
The heat transfer agent of environment adjusts the moving direction of the mobile robot in real time；The control device is also used to be set according to user
Fixed cleaning modes control the cleaning assemblies by the driving component and execute corresponding clean.
2. a kind of sweeping robot based on depth camera according to claim 1, which is characterized in that the depth camera
For TOF camera, including：
Control circuit, for carrying out high frequency modulated to transmitting light pulse；
Transmitting unit is electrically connected to the control circuit, for emitting continuous light pulse under control circuit control；
TOF sensing unit, is electrically connected to the control circuit, and for obtaining the color information of space environment, and receives the hair
The light pulse for penetrating unit transmitting encounters the light pulse returned after object；
Processing circuit is electrically connected with the TOF sensing unit, and the image information for obtaining to the TOF sensing unit carries out
Error correction, and calculate the depth information of image.
3. a kind of sweeping robot based on depth camera according to claim 2, which is characterized in that the TOF sensing
Unit includes：
Bandpass filter returns to light pulse for receiving, the light pulse frequency for returning to light pulse and transmitting unit transmitting
Rate is consistent；
Optical lens is connected with the bandpass filter, for focusing light transmission, and receives filtered through the bandpass filter
Light pulse；
TOF sensor is connect with the optical lens, for recording the RGB color multimedia message of the ambient image, and the light of transmitting
Phase information between pulse and return light pulse.
4. a kind of sweeping robot based on depth camera according to claim 1, which is characterized in that the depth camera
For binocular camera, including：
Image capture module, for passing through left and right two cameras shooting environmental image；
Data processing module, the ambient image for being shot according to described image acquisition module, in conjunction with the binocular camera
Parameter information calculates the depth information of the ambient image.
5. a kind of sweeping robot based on depth camera according to claim 1, which is characterized in that the sensor dress
Set including：
Obstacle avoidance sensor array, including several infrared sensors, are separately mounted in the housing sidewall, for measuring advance side
To whether having barrier.
6. a kind of sweeping robot based on depth camera according to claim 1, which is characterized in that the sensor dress
Set including：
Whether crash sensor is mounted in the housing sidewall, have collision to send out for perceiving between the shell and barrier
It is raw.
7. a kind of sweeping robot based on depth camera described in -6 any one according to claim 1, which is characterized in that institute
Stating sensor device includes：
Dropproof sensor array, including several infrared sensors are separately positioned on the different location at the housing bottom edge,
For measuring the housing bottom at a distance from ground.
8. a kind of sweeping robot based on depth camera according to claim 1, which is characterized in that the walking mechanism
Including：
Power wheel is made of left power wheel, right power wheel；Odometer is installed on the power wheel, for recording the power
Take turns the distance advanced；
Universal wheel, it is smooth for turning to and controlling.
9. a kind of sweeping robot based on depth camera according to claim 8, which is characterized in that the cleaning device
Including：
It sweeps the floor component, the side including being installed on the housing bottom brushes, round brush and integrated box；For to the housing bottom area
Domain carries out operation of sweeping the floor；
Mop floor component, including being mounted on the mop of the housing bottom, and is mounted on the water tank of the case top；For to institute
It states housing bottom and carries out the operation that mops floor.
10. a kind of sweeping robot based on depth camera according to claim 9, which is characterized in that the driving group
Part includes：
Power turbin generator group, including driving the motor of left power wheel and driving the motor of right power wheel；
Sweep the floor motor group, including drive while brush clean while the round brush motor that cleans of brush motor and driving round brush；
Mop floor motor, for driving mop to mop floor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810546677.3A CN108888187A (en) | 2018-05-31 | 2018-05-31 | A kind of sweeping robot based on depth camera |
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| CN109497893A (en) * | 2018-12-28 | 2019-03-22 | 湖南格兰博智能科技有限责任公司 | A kind of sweeping robot and its method for judging self-position |
| CN110063694A (en) * | 2019-04-28 | 2019-07-30 | 彭春生 | A kind of binocular sweeping robot and working method |
| CN110374045A (en) * | 2019-07-29 | 2019-10-25 | 哈尔滨工业大学 | A kind of intelligence de-icing method |
| CN110464258A (en) * | 2019-09-17 | 2019-11-19 | 禧涤智能(北京)科技有限公司 | Intelligent cleaning robot |
| WO2020124702A1 (en) * | 2018-12-21 | 2020-06-25 | 深圳乐动机器人有限公司 | Intelligent cleaning method and device for robot, and robot |
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| CN110374045B (en) * | 2019-07-29 | 2021-09-28 | 哈尔滨工业大学 | Intelligent deicing method |
| CN110374045A (en) * | 2019-07-29 | 2019-10-25 | 哈尔滨工业大学 | A kind of intelligence de-icing method |
| CN112493924B (en) * | 2019-08-26 | 2023-03-10 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method thereof |
| CN112493924A (en) * | 2019-08-26 | 2021-03-16 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method thereof |
| CN110464258A (en) * | 2019-09-17 | 2019-11-19 | 禧涤智能(北京)科技有限公司 | Intelligent cleaning robot |
| WO2021103987A1 (en) * | 2019-11-29 | 2021-06-03 | 深圳市杉川机器人有限公司 | Control method for sweeping robot, sweeping robot, and storage medium |
| TWI832067B (en) | 2020-07-01 | 2024-02-11 | 南韓商Ｌｇ電子股份有限公司 | Robot cleaner and method of controlling the same |
| TWI804908B (en) * | 2020-07-01 | 2023-06-11 | 南韓商Ｌｇ電子股份有限公司 | Robot cleaner and method of controlling the same |
| CN115191113A (en) * | 2020-08-20 | 2022-10-14 | 阿尔戈斯视觉公司 | Wide-view angle stereo camera device and depth image processing method using same |
| WO2022143285A1 (en) * | 2020-12-31 | 2022-07-07 | 深圳市杉川机器人有限公司 | Cleaning robot and distance measurement method therefor, apparatus, and computer-readable storage medium |
| CN112578799A (en) * | 2021-02-25 | 2021-03-30 | 德鲁动力科技(成都)有限公司 | Autonomous charging method for four-foot robot and autonomous charging four-foot robot |
| CN114515124A (en) * | 2022-04-21 | 2022-05-20 | 深圳市倍思科技有限公司 | Cleaning position determining method, cleaning position determining device, cleaning position determining equipment and storage medium |
| CN114766985A (en) * | 2022-06-14 | 2022-07-22 | 唯羲科技有限公司 | Positioning and mapping management method and system applied to multi-element scene |
| WO2023245906A1 (en) * | 2022-06-24 | 2023-12-28 | 奥比中光科技集团股份有限公司 | Tof sensor-based sweeping robot obstacle avoidance and navigation method and apparatus, and storage medium |
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