CN109059918A - Floor-cleaning machine and its localization method, floor-cleaning machine positioning device - Google Patents
Floor-cleaning machine and its localization method, floor-cleaning machine positioning device Download PDFInfo
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- CN109059918A CN109059918A CN201810427284.0A CN201810427284A CN109059918A CN 109059918 A CN109059918 A CN 109059918A CN 201810427284 A CN201810427284 A CN 201810427284A CN 109059918 A CN109059918 A CN 109059918A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses a kind of floor-cleaning machine and its localization method, floor-cleaning machine positioning device.Wherein, this method comprises: the signal that target object is sent in floor-cleaning machine detection target area；Above-mentioned floor-cleaning machine obtains the signal strength of above-mentioned signal；According to above-mentioned signal strength, the first location information of above-mentioned floor-cleaning machine is determined.The present invention solves the technical issues of existing floor-cleaning machine can not effectively realize autonomous positioning.
Description
Technical field
The present invention relates to field of intelligent control technology, in particular to a kind of floor-cleaning machine and its localization method, wash ground
The positioning device of machine.
Background technique
As smart home is more close to our life, and the proposition of " internet+" theory, existing floor-cleaning machine
Disadvantage seems more prominent, for example, existing hand propelled or drive type floor cleaning machine and cannot achieve autonomous positioning and contexture by self
Path can not effectively manage the location of floor-cleaning machine, not only be not carried out internet of things functional, it is also necessary to consume a large amount of energy
Amount, can not fundamentally improve the cleaning of floor-cleaning machine and blot efficiency.
Aiming at the problem that above-mentioned existing floor-cleaning machine cannot achieve autonomous positioning, effective solution side is not yet proposed at present
Case.
Summary of the invention
The embodiment of the invention provides a kind of floor-cleaning machine and its localization method, floor-cleaning machine positioning device, at least to solve
Certainly existing floor-cleaning machine can not effectively realize the technical issues of autonomous positioning.
According to an aspect of an embodiment of the present invention, a kind of localization method of floor-cleaning machine is provided, comprising: floor-cleaning machine detection
The signal that target object is sent in target area；Above-mentioned floor-cleaning machine obtains the signal strength of above-mentioned signal；It is strong according to above-mentioned signal
Degree, determines the first location information of above-mentioned floor-cleaning machine.
Further, it is provided with electronic tag in above-mentioned target object, above-mentioned electronic tag is provided in above-mentioned floor-cleaning machine
Identification equipment；Floor-cleaning machine detects the signal that target object is sent in target area, comprising: using the identification in above-mentioned floor-cleaning machine
Equipment detects the signal that the electronic tag in above-mentioned target object is sent.
Further, the above method further include: during above-mentioned floor-cleaning machine is mobile, obtain ring locating for above-mentioned floor-cleaning machine
The first environment information in border；The current location information of above-mentioned floor-cleaning machine is determined according to first environment information.
Further, it in the case where the quantity of above-mentioned electronic tag is one, according to above-mentioned signal strength, determines above-mentioned
The first location information of floor-cleaning machine, comprising: the first mapping relations of predetermined above-mentioned signal strength and first distance are obtained,
Wherein, above-mentioned first distance is the distance between above-mentioned floor-cleaning machine and above-mentioned target object；According to above-mentioned first mapping relations, really
The first location information of fixed above-mentioned floor-cleaning machine.
Further, it in the case where the quantity of above-mentioned electronic tag is multiple, according to above-mentioned signal strength, determines above-mentioned
The first location information of floor-cleaning machine, comprising: the signal strength of multiple above-mentioned electronic tag signal transmitteds is calculated, is obtained
Calculated result；Obtain the second mapping relations of above-mentioned calculated result and second distance, wherein above-mentioned second distance includes above-mentioned washes
The distance between ground machine and each above-mentioned electronic tag；According to above-mentioned second mapping relations, first of above-mentioned floor-cleaning machine is determined
Confidence breath.
Further, according to above-mentioned signal strength, after the first location information for determining above-mentioned floor-cleaning machine, the above method
Further include: obtain the target trajectory that above-mentioned floor-cleaning machine moves in above-mentioned target area；Determine the start bit of above-mentioned target trajectory
It sets and target position；It controls above-mentioned floor-cleaning machine and is moved to above-mentioned initial position from first position, and along above-mentioned target trajectory from upper
It states initial position and is moved to above-mentioned target position.
Further, above-mentioned while being moved to above-mentioned target position from above-mentioned initial position along above-mentioned target trajectory
Method further include: obtain the second environment information of above-mentioned floor-cleaning machine local environment；Above-mentioned target is determined according to second environment information
Whether there are obstacles on track；If there are above-mentioned barriers on above-mentioned target trajectory, above-mentioned floor-cleaning machine is obtained in above-mentioned mesh
The first track for move in mark region, wherein above-mentioned first track for above-mentioned floor-cleaning machine in the process of moving, for evading
State the track of barrier；Above-mentioned floor-cleaning machine is controlled to be moved along above-mentioned first track.
Further, after controlling above-mentioned floor-cleaning machine and being moved along above-mentioned first track, the above method further include: obtain
Take the third environmental information of above-mentioned floor-cleaning machine local environment；The second confidence of above-mentioned floor-cleaning machine is determined according to third environmental information
Breath；It controls above-mentioned floor-cleaning machine and is moved to above-mentioned target trajectory from the second position, and continued to move to along above-mentioned target trajectory.
According to another aspect of an embodiment of the present invention, a kind of positioning device of floor-cleaning machine is additionally provided, comprising: sanitation equipment
Detect the signal that target object is sent in target area；Above-mentioned sanitation equipment obtains the signal strength of above-mentioned signal；According to above-mentioned
Signal strength positions the current location of above-mentioned sanitation equipment.
According to another aspect of an embodiment of the present invention, a kind of floor-cleaning machine is additionally provided, comprising: identification equipment is set to and washes
In ground machine, the signal for sending to the target object in target area is detected, and obtains the signal strength of above-mentioned signal；
Positioning device is connect with above-mentioned identification equipment, for determining the first position letter of above-mentioned floor-cleaning machine according to above-mentioned signal strength
Breath.
According to another aspect of an embodiment of the present invention, a kind of positioning device of floor-cleaning machine is additionally provided, comprising: detection mould
Block, for detecting the signal that target object is sent in target area；Module is obtained, for obtaining the signal strength of above-mentioned signal；
Determining module, for determining the first location information of above-mentioned floor-cleaning machine according to above-mentioned signal strength.
According to another aspect of an embodiment of the present invention, a kind of storage medium is additionally provided, above-mentioned storage medium includes storage
Program, wherein above procedure executes the localization method of the above-mentioned floor-cleaning machine of any one.
According to another aspect of an embodiment of the present invention, a kind of processor is additionally provided, above-mentioned processor is used to run program,
Wherein, the localization method of the above-mentioned floor-cleaning machine of any one is executed when above procedure is run.
In embodiments of the present invention, by the way of autonomous positioning, target object in target area is detected by floor-cleaning machine
The signal of transmission；Above-mentioned floor-cleaning machine obtains the signal strength of above-mentioned signal；According to above-mentioned signal strength, above-mentioned floor-cleaning machine is determined
First location information has reached floor-cleaning machine autonomous positioning, the high purpose of positioning accuracy, effectively manages floor-cleaning machine to realize
The technical effect of location information, and then solve the technical issues of existing floor-cleaning machine can not effectively realize autonomous positioning.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of step flow chart of the localization method of floor-cleaning machine according to an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of a scenario of the localization method of optional floor-cleaning machine according to an embodiment of the present invention；
Fig. 3 is a kind of step flow chart of the localization method of optional floor-cleaning machine according to an embodiment of the present invention；
Fig. 4 is a kind of step flow chart of the localization method of optional floor-cleaning machine according to an embodiment of the present invention；
Fig. 5 is a kind of step flow chart of the localization method of optional floor-cleaning machine according to an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of floor-cleaning machine according to an embodiment of the present invention；And
Fig. 7 is a kind of structural schematic diagram of the positioning device of floor-cleaning machine according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Firstly, understand the embodiment of the present invention for convenience, below will to part term involved in the present invention or noun into
Row illustrates:
Less radio-frequency (RFID) equipment: being a kind of communication technology, and specific objective can be identified by radio signals and is read
Related data is write, without establishing mechanical or optical contact between identifying system and specific objective.
Fence: refer to a kind of surrounding anti-theft alarm system, including electronic fence host, front end accessory, rear end control
System three parts are installed generally along original enclosure wall.
Embodiment 1
According to embodiments of the present invention, a kind of localization method embodiment of floor-cleaning machine is provided, it should be noted that in attached drawing
Process the step of illustrating can execute in a computer system such as a set of computer executable instructions, although also,
Logical order is shown in flow charts, but in some cases, can be executed with the sequence for being different from herein it is shown or
The step of description.
Fig. 1 is a kind of step flow chart of the localization method of floor-cleaning machine according to an embodiment of the present invention, as shown in Figure 1, should
Method includes the following steps:
Step S102, floor-cleaning machine detect the signal that target object is sent in target area.
Optionally, above-mentioned floor-cleaning machine is that one kind is suitable for hard ground cleaning while blotting sewage, and sewage is taken away now
The cleaning machine of field can be used for Rapid Cleaning, blot ground, cleaning ground；The floor-cleaning machine can be, but not limited to be any one
The Full automatic scrubber of seed type or shape, for example, intelligent robot floor-cleaning machine, can also be semi-automatic floor-cleaning machine, hand propelled
Floor-cleaning machine, drive type floor cleaning machine, above-mentioned target area can be room area or outdoor (for example, market, supermarket, station, work
Factory, airport etc.) specified region (wherein, this specified region can be independently configured by user).
Wherein, identification equipment can be set in above-mentioned floor-cleaning machine, for example, less radio-frequency RFID recognition device；Above-mentioned mesh
Marking object can be fence, can be installed along original enclosure wall.
Also, above-mentioned RFID recognition device identifiable RFID electronic label (electronics mark is provided on above-mentioned fence
The quantity of label can be one or more), it is can be, but not limited between RFID recognition device and electronic tag through signal (example
Such as, radio signals) connection.
As an alternative embodiment, electronics can be detected by the RFID recognition device being arranged in floor-cleaning machine
Signal transmitted by the one or more electronic tags being arranged on fence.
It should be noted that self-contained water tank and diaphragm type water tank can be set in above-mentioned floor-cleaning machine, it is respectively used to device
Clear water and sewage, the water suction of above-mentioned floor-cleaning machine is taken off can be under the action of absorbing water motor and scraping band polywater, by the sewage on ground
Sucking foul water tank takes away from the scene.
In an alternative embodiment, above-mentioned floor-cleaning machine further include: battery charger is set in above-mentioned floor-cleaning machine,
For powering for above-mentioned floor-cleaning machine；Storage battery is set in above-mentioned floor-cleaning machine, is connect with above-mentioned battery charger, for storing electricity
Energy.
Optionally, above-mentioned battery charger can be fully automatic electric bottle charger, and above-mentioned battery charger is floor-cleaning machine
Power-on time longest can be 6-8 hour, and the battery capacity of the used storage electric energy of above-mentioned storage battery can lie prostrate for 24V/115Ah
Spy/ampere.
As a kind of optional embodiment, in above-mentioned floor-cleaning machine further include: brush is set to above-mentioned floor-cleaning machine lower part, uses
In the ground for cleaning above-mentioned target area；Water absorber is set to above-mentioned floor-cleaning machine lower part, for adsorbing above-mentioned target area
Moisture on ground.
It should be noted that above-mentioned brush is (for example, disc type or idler wheel in order to improve the automated cleaning ability of washing machine
Formula brush) need to be equipped with 3 as a set of, i.e., the quantity of main brush can be set to three, wherein the work of the brush in the application
It can be, but not limited to be 66 centimetres as width.
Above-mentioned water absorber can for water absorption plate or water suction take off, for absorb water motor and scrape band polywater under the action of, will
On ground sewage sucking foul water tank take away from the scene, wherein the width of the water suction of the water absorber in the application can with but it is unlimited
In being 79 centimetres.
Step S104, above-mentioned floor-cleaning machine obtain the signal strength of above-mentioned signal.
Optionally, the signal that above-mentioned floor-cleaning machine can obtain label signal by the identification equipment being arranged in floor-cleaning machine is strong
Degree.
Step S106 determines the first location information of above-mentioned floor-cleaning machine according to above-mentioned signal strength.
It optionally, can be by the positioning device that is arranged in above-mentioned floor-cleaning machine (for example, GPS positioning device, Beidou position
Device) determine that the first location information of above-mentioned floor-cleaning machine, above-mentioned first location information can be the initial position of above-mentioned floor-cleaning machine
Information or current location information, that is, the method for the autonomous positioning based on above-mentioned steps S102 into step S106, it can be in office
Any time in the case of what, the autonomous positioning of realization location information current to floor-cleaning machine, provided herein one
Kind has the intelligent floor-cleaning machine of autonomous positioning function, facilitates administrative staff to move it and is managed and controls.
In an alternative embodiment, it is provided with electronic tag in above-mentioned target object, is provided in above-mentioned floor-cleaning machine
The identification equipment of above-mentioned electronic tag；Floor-cleaning machine detects the signal that target object is sent in target area, comprising: is washed using above-mentioned
Identification equipment in ground machine detects the signal that the electronic tag in above-mentioned target object is sent.
A kind of following optional embodiment, explains the autonomic positioning method of floor-cleaning machine provided herein
Bright: Fig. 2 is a kind of schematic diagram of a scenario of the localization method of optional floor-cleaning machine according to an embodiment of the present invention, as shown in Fig. 2, working as
Floor-cleaning machine is in a target area (it should be noted that the target area for floor-cleaning machine, can be circumstances not known)
When middle, above-mentioned floor-cleaning machine can be moved since a unknown position behind above-mentioned target area, firstly, in floor-cleaning machine initialization
The RFID recognition device in portion, and using the electronic tag being arranged on RFID technique identification fence, carry out the autonomous of floor-cleaning machine
Positioning, meanwhile, the processor inside above-mentioned floor-cleaning machine is also based on the environmental information currently got (can be in floor-cleaning machine
The sensor of setting environmental information collected) environmental map is established, and realized using the path planning function of floor-cleaning machine
Autonomous.
When starting mobile by planned trajectory under control of the floor-cleaning machine in the Global motion planning device of inside setting, can use
The ambient enviroment of sensor (for example, sensor of the types such as ultrasonic sensor, infrared sensor) identification object region is stated,
The object of surrounding is judged, the reposition to self-position is realized, when needing avoidance, as shown in Fig. 2, target trajectory
Upper someone's (or object) is it may be considered that need avoidance, then rely on and plan that the first track is (short in real time under the control of sector planning device
Path in phase), after completing the first track, current location is positioned according to freedom positioning system, turns again to target trajectory
On start to move under the control of Global motion planning device, the autonomous of floor-cleaning machine is realized with this, also, judging floor-cleaning machine needs
When terminating positioning, then terminate to position, if being positioned without terminating after once positioning is completed, then returning to initialization RFID device,
Re-start positioning.
Wherein, in above-mentioned floor-cleaning machine include freedom positioning system based on RFID recognition device, supplemented by multisensor,
Not only has the advantages that registration, also with the advantage of low power consumption and low cost.
In embodiments of the present invention, by the way of autonomous positioning, target object in target area is detected by floor-cleaning machine
The signal of transmission；Above-mentioned floor-cleaning machine obtains the signal strength of above-mentioned signal；According to above-mentioned signal strength, above-mentioned floor-cleaning machine is determined
First location information has reached floor-cleaning machine autonomous positioning, the high purpose of positioning accuracy, effectively manages floor-cleaning machine to realize
The technical effect of location information, and then solve the technical issues of existing floor-cleaning machine can not effectively realize autonomous positioning.
In an alternative embodiment, in the case where the quantity of above-mentioned electronic tag is one, according to above-mentioned signal
Intensity determines the first location information of above-mentioned floor-cleaning machine, comprising:
Step S202 obtains the first mapping relations of predetermined above-mentioned signal strength and first distance, wherein above-mentioned
First distance is the distance between above-mentioned floor-cleaning machine and above-mentioned target object.
Step S204 determines the first location information of above-mentioned floor-cleaning machine according to above-mentioned first mapping relations.
As a kind of optional embodiment, if only including an electronic tag in above-mentioned fence, can set in advance
First mapping of the signal strength and first distance (that is, the distance between floor-cleaning machine and target object) of setting electronic tag is closed
System, and then according to above-mentioned first mapping relations, it can accurately obtain the first location information of above-mentioned floor-cleaning machine.
In an alternative embodiment, Fig. 3 is a kind of positioning side of optional floor-cleaning machine according to an embodiment of the present invention
The step flow chart of method, as shown in figure 3, in the case where the quantity of above-mentioned electronic tag is multiple, according to above-mentioned signal strength,
Determine the first location information of above-mentioned floor-cleaning machine, comprising:
Step S302 calculates the signal strength of multiple above-mentioned electronic tag signal transmitteds, obtains calculated result.
Step S304 obtains the second mapping relations of above-mentioned calculated result and second distance, wherein above-mentioned second distance packet
Include the distance between above-mentioned floor-cleaning machine and each above-mentioned electronic tag.
Step S306 determines the first location information of above-mentioned floor-cleaning machine according to above-mentioned second mapping relations.
It, can be to current if in above-mentioned fence including multiple electronic tags as a kind of optional embodiment
RFID device it is available to the signal strengths of multiple electronic tag signal transmitteds calculated, obtain a calculating knot
Fruit, and according to preset each calculated result and second distance (that is, between floor-cleaning machine and each electronic tag away from
From) between the second mapping relations, and then can accurately obtain first of above-mentioned floor-cleaning machine according to above-mentioned second mapping relations
Confidence breath.
In addition, if the quantity of above-mentioned electronic tag is 3, it can also be according to available 3 arrived of current RFID device
The signal strength of a electronic tag signal transmitted carries out triangulation calculation, obtains above-mentioned calculated result.
A kind of indoor intelligent floor-cleaning machine with autonomous positioning function provided herein, in the base of original floor-cleaning machine
On plinth, the technology combined of multi-sensor information based on RFID technique supplemented by other sensors is utilized, may be implemented in mesh
The function of autonomous positioning in region is marked, which not only facilitates the position of administrative staff or user management floor-cleaning machine, while more
There are the high and low power consumption of positioning accuracy, low cost.
In an alternative embodiment, Fig. 4 is a kind of positioning side of optional floor-cleaning machine according to an embodiment of the present invention
The step flow chart of method, as shown in figure 4, the above method further includes following method and step:
Step S402 obtains the first environment letter of above-mentioned floor-cleaning machine local environment during above-mentioned floor-cleaning machine is mobile
Breath；
Step S404 determines the current location information of above-mentioned floor-cleaning machine according to first environment information.
As a kind of optional embodiment, can be, but not limited to that sensor is arranged in above-mentioned floor-cleaning machine, for example, ultrasonic wave
The sensor of the types such as sensor, infrared sensor.During above-mentioned floor-cleaning machine is mobile, the sensor can be passed through
The first environment information of above-mentioned floor-cleaning machine local environment is obtained, and then can determine above-mentioned floor-cleaning machine according to first environment information
Current location information.
In an alternative embodiment, Fig. 5 is a kind of positioning side of optional floor-cleaning machine according to an embodiment of the present invention
The step flow chart of method, as shown in figure 5, according to above-mentioned signal strength, after the first location information for determining above-mentioned floor-cleaning machine,
The above method further includes following method and step:
Step S502 obtains the target trajectory that above-mentioned floor-cleaning machine moves in above-mentioned target area；
Step S504 determines the initial position and target position of above-mentioned target trajectory；
Step S506 controls above-mentioned floor-cleaning machine from first position and is moved to above-mentioned initial position, and along above-mentioned target trajectory
Above-mentioned target position is moved to from above-mentioned initial position.
As a kind of optional embodiment, above-mentioned floor-cleaning machine can be moved in the target area in advance target trajectory into
Professional etiquette is drawn namely the target trajectory of predetermined floor-cleaning machine.
Based on method and step provided by above-mentioned steps S502 to step S506, above-mentioned floor-cleaning machine is being obtained in above-mentioned target
After the target trajectory moved in region, the initial position (starting point) and target position that can determine above-mentioned target trajectory are (eventually
Point), and control floor-cleaning machine and be moved to the initial position in target trajectory from current location, and then can control above-mentioned floor-cleaning machine from
Above-mentioned initial position is moved to target position, through the above steps, control floor-cleaning machine may be implemented from current location and be moved to mesh
Track is marked, and is moved along the target trajectory planned in advance.
In an alternative embodiment, above-mentioned target position is being moved to from above-mentioned initial position along above-mentioned target trajectory
While, the above method further includes following method and step:
Step S602 obtains the second environment information of above-mentioned floor-cleaning machine local environment.
It should be noted that above-mentioned second environment information can be, but not limited to the acquisition modes with above-mentioned first environment information
Unanimously, herein " first ", " second " is used to distinguish similar objects, without for describing specific sequence or successive time
Sequence, it should be appreciated that above-mentioned first environment information and second environment information are interchangeable under appropriate circumstances.
Step S604 determines that whether there are obstacles on above-mentioned target trajectory according to second environment information.
In above-mentioned steps S604, can be, but not limited to by the sensors of the types such as ultrasonic wave, infrared ray it is determining with it is upper
The object in floor-cleaning machine local environment is stated at a distance from target trajectory and the location of above-mentioned object determines on target trajectory
Whether there are obstacles, wherein if there are above-mentioned objects on above-mentioned target trajectory, it is determined that the object is barrier；If above-mentioned
Object is not on target trajectory, but the distance between the object and target trajectory are less than preset threshold, then still determining should
Object is barrier.
Step S606 obtains above-mentioned floor-cleaning machine in above-mentioned target area if there are above-mentioned barriers on above-mentioned target trajectory
The first track moved in domain.
In a kind of optional embodiment provided herein, above-mentioned first track is a short-term track, is used for
Above-mentioned floor-cleaning machine evades the track of above-mentioned barrier in the process of moving, that is, there are above-mentioned barriers on above-mentioned target trajectory
In the case where hindering object, the first track that a floor-cleaning machine moves in target trajectory can be determined or planned again.
Step S608 controls above-mentioned floor-cleaning machine and is moved along above-mentioned first track.
S602 to step S608 through the above steps, floor-cleaning machine in the process of moving, be evading target track on
Barrier then can control floor-cleaning machine and be moved along the first track, in order to which floor-cleaning machine encounters barrier, cause unnecessary
Trouble.
In an alternative embodiment, above-mentioned after controlling above-mentioned floor-cleaning machine and being moved along above-mentioned first track
Method further include:
Step S702 obtains the third environmental information of above-mentioned floor-cleaning machine local environment.
It should be noted that above-mentioned third environmental information can be, but not limited to and above-mentioned first environment information, second environment
The acquisition modes of information are consistent, and " first " herein, " second ", " third " are only used for distinguishing similar object, without being used for
The specific sequence of description or precedence, it should be appreciated that above-mentioned first environment information, second environment information and third environmental information
It is interchangeable under appropriate circumstances.
Step S704 determines the second location information of above-mentioned floor-cleaning machine according to third environmental information；
Step S706 controls above-mentioned floor-cleaning machine from the second position and is moved to above-mentioned target trajectory, and along above-mentioned target trajectory
It continues to move to.
In an alternative embodiment, said second position can be presently in position for above-mentioned floor-cleaning machine, and above-mentioned the
Two location informations are also the information that floor-cleaning machine is presently in position.
It still needs to it is noted that the above-mentioned environmental information according to floor-cleaning machine local environment, determines the current of above-mentioned floor-cleaning machine
The mode of location information can be, but not limited to it is consistent with the mode referred to before, that is, can be, but not limited in above-mentioned floor-cleaning machine
Middle setting sensor, for example, the sensor of the types such as ultrasonic sensor, infrared sensor, and then above-mentioned biography can be passed through
Sensor obtains the second environment information of above-mentioned floor-cleaning machine local environment, and controls floor-cleaning machine and be moved to above-mentioned target from the second position
Track, and continued to move to along above-mentioned target trajectory.
Through the above steps, after above-mentioned floor-cleaning machine avoidance terminates, floor-cleaning machine can be controlled again and is returned from current location
To target trajectory, continuation is moved along target trajectory, deviates target trajectory to avoid floor-cleaning machine, it is difficult to be completed cleaning and be inhaled
Dry task.
In addition, present invention also provides a kind of methods for controlling floor-cleaning machine, comprising: floor-cleaning machine obtains target route and determines
Position data；Above-mentioned floor-cleaning machine determines current mobile route according to above-mentioned location data；Above-mentioned floor-cleaning machine obtains above-mentioned mobile road
Deviation data between line and above-mentioned target route；Above-mentioned floor-cleaning machine adjusts above-mentioned mobile route according to above-mentioned deviation data
It is whole, and it is mobile according to mobile route adjusted to control above-mentioned floor-cleaning machine.
In an alternative embodiment, above-mentioned location data includes at least one following: the present bit of above-mentioned floor-cleaning machine
It sets, the target position of the moving direction of above-mentioned floor-cleaning machine, above-mentioned floor-cleaning machine；Above-mentioned floor-cleaning machine is worked as according to the determination of above-mentioned location data
Preceding mobile route, comprising: above-mentioned floor-cleaning machine determines locating for above-mentioned floor-cleaning machine according to above-mentioned current location and above-mentioned target position
Object space；Above-mentioned floor-cleaning machine obtains the fence information in above-mentioned object space；Above-mentioned floor-cleaning machine is according to above-mentioned electronics
The moving direction of fence information and above-mentioned floor-cleaning machine determines the mobile route in above-mentioned object space.
In an alternative embodiment, above-mentioned deviation data includes at least: deviation, and above-mentioned floor-cleaning machine is according to above-mentioned inclined
Difference data is adjusted above-mentioned mobile route, and it is mobile according to mobile route adjusted to control above-mentioned floor-cleaning machine, comprising: on
It states floor-cleaning machine and determines whether above-mentioned deviation is greater than preset threshold；If above-mentioned deviation is greater than above-mentioned preset threshold, above-mentioned to wash ground
Machine adjusts the moving direction of above-mentioned floor-cleaning machine according to above-mentioned current location；Above-mentioned target is moved to according to moving direction adjusted
On route, and moved along above-mentioned target route；If above-mentioned deviation is less than or equal to above-mentioned preset threshold, above-mentioned floor-cleaning machine is still
It is moved along above-mentioned mobile route.
Based on the above embodiment, the application by floor-cleaning machine increase autonomous positioning function, in conjunction with path planning
Function embodies " internet+" theory conscientiously, while also improving the high efficiency of the management control to autonomous floor-cleaning machine, from this
The efficiency for improving the cleaning of floor-cleaning machine in matter and blotting.
A kind of intelligent floor-cleaning machine with autonomous positioning function provided herein may be implemented according to programme path certainly
By moving, avoiding barrier reduces the damage to barrier, effectively improves the efficiency on cleaning ground；Facilitate administrative staff to it
Movement is managed and controls；And it can notify administrative staff and automatic charging in time in the battery capacity deficiency of floor-cleaning machine.
Embodiment 2
According to embodiments of the present invention, a kind of floor-cleaning machine implementation for implementing the localization method of above-mentioned floor-cleaning machine is additionally provided
Example, Fig. 6 is a kind of structural schematic diagram of floor-cleaning machine according to an embodiment of the present invention, as shown in fig. 6, above-mentioned floor-cleaning machine, comprising: is known
Other equipment 60 and positioning device 62, wherein
It identifies equipment 60, is set in floor-cleaning machine, the signal for sending to the target object in target area is examined
It surveys, and obtains the signal strength of above-mentioned signal；Positioning device 62 is connect with above-mentioned identification equipment, for strong according to above-mentioned signal
Degree, determines the first location information of above-mentioned floor-cleaning machine.
As a kind of optional embodiment, above-mentioned floor-cleaning machine can be the floor-cleaning machine of any one type or shape, target
Region can be room area or the specified region of outdoor, wherein above-mentioned identification equipment can be set in above-mentioned floor-cleaning machine
60, for example, less radio-frequency RFID recognition device；Above-mentioned target object can be fence, can along original enclosure wall into
Row installation.
Also, above-mentioned RFID recognition device identifiable RFID electronic label (electronics mark is provided on above-mentioned fence
The quantity of label can be one or more), it can be, but not limited to pass through signal between RFID recognition device and RFID electronic label
(for example, radio signals) connection.
In an alternative embodiment, above-mentioned floor-cleaning machine can be by the above-mentioned identification equipment 60 that is arranged in floor-cleaning machine
The signal strength of label signal is obtained, and true by above-mentioned positioning device 62 (for example, GPS positioning device, Beidou positioning device)
The first location information of fixed above-mentioned floor-cleaning machine, above-mentioned first location information can be the initial position message of above-mentioned floor-cleaning machine or work as
Front position information.
In embodiments of the present invention, it by the way of autonomous positioning, by identifying equipment 60, is set in floor-cleaning machine, uses
It is detected in the signal sent to the target object in target area, and obtains the signal strength of above-mentioned signal；Positioning device
62, it is connect with above-mentioned identification equipment, for determining the first location information of above-mentioned floor-cleaning machine, reaching according to above-mentioned signal strength
Floor-cleaning machine autonomous positioning, positioning accuracy high purpose, to realize the technology effect of the effectively location information of management floor-cleaning machine
Fruit, and then solve the technical issues of existing floor-cleaning machine can not effectively realize autonomous positioning.
It should be noted that the specific structure of floor-cleaning machine shown in Fig. 6 in the application is only signal, in concrete application
When, the floor-cleaning machine in the application can have more or few structures than floor-cleaning machine shown in fig. 6.
The localization method it is noted that any one optional or preferred floor-cleaning machine in above-described embodiment 1 is still needed to,
It can execute or realize in floor-cleaning machine provided by the present embodiment.
In addition, still it should be noted that the optional or preferred embodiment of the present embodiment may refer to the phase in embodiment 1
Description is closed, details are not described herein again.
Embodiment 3
According to embodiments of the present invention, a kind of positioning device embodiment of floor-cleaning machine is additionally provided, Fig. 7 is real according to the present invention
A kind of structural schematic diagram of the positioning device of floor-cleaning machine of example is applied, as shown in fig. 7, the positioning device of above-mentioned floor-cleaning machine, comprising: inspection
It surveys module 80, obtain module 82 and determining module 84, wherein
Detection module 80, for detecting the signal that target object is sent in target area；Module 82 is obtained, for obtaining
State the signal strength of signal；Determining module 84, for determining the first position letter of above-mentioned floor-cleaning machine according to above-mentioned signal strength
Breath.
It should be noted that above-mentioned modules can be realized by software or hardware, for example, for the latter,
Can be accomplished by the following way: above-mentioned modules can be located in same processor；Alternatively, above-mentioned modules are with any
Combined mode is located in different processors.
Herein it should be noted that above-mentioned detection module 80, acquisition module 82 and determining module 84 correspond in embodiment 1
Step S102 to step S106, above-mentioned module is identical as example and application scenarios that corresponding step is realized, but is not limited to
1 disclosure of that of above-described embodiment.It should be noted that above-mentioned module may operate in computer as a part of device
In terminal.
It should be noted that the optional or preferred embodiment of the present embodiment may refer to the associated description in embodiment 1,
Details are not described herein again.
The positioning device of above-mentioned floor-cleaning machine can also include processor and memory, and above-mentioned detection module 80 obtains mould
Block 82 and determining module 84 etc. store in memory as program unit, are executed on stored in memory by processor
Program unit is stated to realize corresponding function.
Include kernel in processor, is gone in memory to transfer corresponding program unit by kernel, above-mentioned kernel can be set
One or more.Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM)
And/or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes at least one
Storage chip.
The embodiment of the present application also provides a kind of storage mediums.Optionally, in the present embodiment, above-mentioned storage medium includes
The program of storage, wherein equipment where controlling above-mentioned storage medium in above procedure operation executes any one of the above and washes ground
The localization method of machine.
Optionally, in the present embodiment, above-mentioned storage medium can be located in computer network in computer terminal group
In any one terminal, or in any one mobile terminal in mobile terminal group.
The embodiment of the present application also provides a kind of processors.Optionally, in the present embodiment, above-mentioned processor is for running
Program, wherein above procedure executes the localization method of any one of the above floor-cleaning machine when running.
The embodiment of the present application provides a kind of equipment, equipment include processor, memory and storage on a memory and can
The program run on a processor, processor perform the steps of object in floor-cleaning machine detection target area when executing program
The signal that body is sent；Above-mentioned floor-cleaning machine obtains the signal strength of above-mentioned signal；According to above-mentioned signal strength, above-mentioned floor-cleaning machine is determined
First location information.
Optionally, it when above-mentioned processor executes program, can also be detected above-mentioned using the identification equipment in above-mentioned floor-cleaning machine
The signal that electronic tag in target object is sent.
Optionally, when above-mentioned processor executes program, above-mentioned wash can also be obtained during above-mentioned floor-cleaning machine is mobile
The first environment information of ground machine local environment；The current location information of above-mentioned floor-cleaning machine is determined according to first environment information.
Optionally, when above-mentioned processor executes program, can also obtain predetermined above-mentioned signal strength with first away from
From the first mapping relations, wherein above-mentioned first distance be the distance between above-mentioned floor-cleaning machine and above-mentioned target object；According to upper
The first mapping relations are stated, determine the first location information of above-mentioned floor-cleaning machine.
It optionally, can also be to the signal of multiple above-mentioned electronic tag signal transmitteds when above-mentioned processor executes program
Intensity is calculated, and calculated result is obtained；Obtain the second mapping relations of above-mentioned calculated result and second distance, wherein above-mentioned
Second distance includes the distance between above-mentioned floor-cleaning machine and each above-mentioned electronic tag；According to above-mentioned second mapping relations, determine
The first location information of above-mentioned floor-cleaning machine.
Optionally, when above-mentioned processor executes program, above-mentioned floor-cleaning machine can also be obtained and moved in above-mentioned target area
Target trajectory；Determine the initial position and target position of above-mentioned target trajectory；It is mobile from first position to control above-mentioned floor-cleaning machine
Extremely above-mentioned initial position, and above-mentioned target position is moved to from above-mentioned initial position along above-mentioned target trajectory.
Optionally, when above-mentioned processor executes program, the second environment letter of above-mentioned floor-cleaning machine local environment can also be obtained
Breath；Determine that whether there are obstacles on above-mentioned target trajectory according to second environment information；If on above-mentioned target trajectory, there are above-mentioned
Barrier then obtains the first track that above-mentioned floor-cleaning machine moves in above-mentioned target area, wherein above-mentioned first track is above-mentioned
Floor-cleaning machine in the process of moving, for evading the track of above-mentioned barrier；Control above-mentioned floor-cleaning machine along above-mentioned first track into
Row movement.
Optionally, when above-mentioned processor executes program, the third environment letter of above-mentioned floor-cleaning machine local environment can also be obtained
Breath；The second location information of above-mentioned floor-cleaning machine is determined according to third environmental information；It is mobile from the second position to control above-mentioned floor-cleaning machine
Extremely above-mentioned target trajectory, and continued to move to along above-mentioned target trajectory.
Present invention also provides a kind of computer program products, when executing on data processing equipment, are adapted for carrying out just
The program of beginningization there are as below methods step: floor-cleaning machine detects the signal that target object is sent in target area；Above-mentioned floor-cleaning machine obtains
Take the signal strength of above-mentioned signal；According to above-mentioned signal strength, the first location information of above-mentioned floor-cleaning machine is determined.
Optionally, when above-mentioned computer program product executes program, the identification equipment in above-mentioned floor-cleaning machine can also be used,
Detect the signal that the electronic tag in above-mentioned target object is sent.
Optionally, it when above-mentioned computer program product executes program, can also be obtained during above-mentioned floor-cleaning machine is mobile
Take the first environment information of above-mentioned floor-cleaning machine local environment；The present bit confidence of above-mentioned floor-cleaning machine is determined according to first environment information
Breath.
Optionally, when above-mentioned computer program product executes program, predetermined above-mentioned signal strength can also be obtained
With the first mapping relations of first distance, wherein above-mentioned first distance between above-mentioned floor-cleaning machine and above-mentioned target object away from
From；According to above-mentioned first mapping relations, the first location information of above-mentioned floor-cleaning machine is determined.
Optionally, when above-mentioned computer program product executes program, can also believe transmitted by multiple above-mentioned electronic tags
Number signal strength calculated, obtain calculated result；The second mapping relations of above-mentioned calculated result and second distance are obtained,
In, above-mentioned second distance includes the distance between above-mentioned floor-cleaning machine and each above-mentioned electronic tag；It is closed according to above-mentioned second mapping
System, determines the first location information of above-mentioned floor-cleaning machine.
Optionally, when above-mentioned computer program product executes program, above-mentioned floor-cleaning machine can also be obtained in above-mentioned target area
The target trajectory moved in domain；Determine the initial position and target position of above-mentioned target trajectory；Above-mentioned floor-cleaning machine is controlled from first
Position is moved to above-mentioned initial position, and is moved to above-mentioned target position from above-mentioned initial position along above-mentioned target trajectory.
Optionally, when above-mentioned computer program product executes program, the of above-mentioned floor-cleaning machine local environment can also be obtained
Two environmental informations；Determine that whether there are obstacles on above-mentioned target trajectory according to second environment information；If on above-mentioned target trajectory
There are above-mentioned barriers, then obtain the first track that above-mentioned floor-cleaning machine moves in above-mentioned target area, wherein above-mentioned first rail
Mark be above-mentioned floor-cleaning machine in the process of moving, for evading the track of above-mentioned barrier；Above-mentioned floor-cleaning machine is controlled along above-mentioned
It is moved one track.
Optionally, when above-mentioned computer program product executes program, the of above-mentioned floor-cleaning machine local environment can also be obtained
Three environmental informations；The second location information of above-mentioned floor-cleaning machine is determined according to third environmental information；Above-mentioned floor-cleaning machine is controlled from second
Position is moved to above-mentioned target trajectory, and continues to move to along above-mentioned target trajectory.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of localization method of floor-cleaning machine characterized by comprising
Floor-cleaning machine detects the signal that target object is sent in target area；
The floor-cleaning machine obtains the signal strength of the signal；
According to the signal strength, the first location information of the floor-cleaning machine is determined.
2. localization method according to claim 1, which is characterized in that be provided with electronic tag, institute in the target object
State the identification equipment that the electronic tag is provided in floor-cleaning machine；Floor-cleaning machine detects the letter that target object is sent in target area
Number, comprising:
Using the identification equipment in the floor-cleaning machine, the signal that the electronic tag in the target object is sent is detected.
3. localization method according to claim 1, which is characterized in that the method also includes:
During the floor-cleaning machine is mobile, the first environment information of the floor-cleaning machine local environment is obtained；
The current location information of the floor-cleaning machine is determined according to first environment information.
4. localization method according to claim 2, which is characterized in that the situation for being one in the quantity of the electronic tag
Under, according to the signal strength, determine the first location information of the floor-cleaning machine, comprising:
Obtain the first mapping relations of the predetermined signal strength and first distance, wherein the first distance is institute
State the distance between floor-cleaning machine and the target object；
According to first mapping relations, the first location information of the floor-cleaning machine is determined.
5. localization method according to claim 2, which is characterized in that the electronic tag quantity be multiple situations
Under, according to the signal strength, determine the first location information of the floor-cleaning machine, comprising:
The signal strength of multiple electronic tag signal transmitteds is calculated, calculated result is obtained；
Obtain the second mapping relations of the calculated result and second distance, wherein the second distance includes the floor-cleaning machine
The distance between each described electronic tag；
According to second mapping relations, the first location information of the floor-cleaning machine is determined.
6. localization method according to claim 1, which is characterized in that wash ground described in determine according to the signal strength
After the first location information of machine, the method also includes:
Obtain the target trajectory that the floor-cleaning machine moves in the target area；
Determine the initial position and target position of the target trajectory；
It controls the floor-cleaning machine and is moved to the initial position from first position, and along the target trajectory from the initial position
It is moved to the target position.
7. localization method according to claim 6, which is characterized in that moved along the target trajectory from the initial position
While moving to the target position, the method also includes:
Obtain the second environment information of the floor-cleaning machine local environment；
Determine that whether there are obstacles on the target trajectory according to second environment information；
If there are the barriers on the target trajectory, the floor-cleaning machine moves in the target area first is obtained
Track, wherein first track be the floor-cleaning machine in the process of moving, for evading the track of the barrier；
The floor-cleaning machine is controlled to be moved along first track.
8. localization method according to claim 7, which is characterized in that control the floor-cleaning machine along first track into
After row is mobile, the method also includes:
Obtain the third environmental information of the floor-cleaning machine local environment；
The second location information of the floor-cleaning machine is determined according to third environmental information；
It controls the floor-cleaning machine and is moved to the target trajectory from the second position, and continued to move to along the target trajectory.
9. a kind of positioning device of floor-cleaning machine characterized by comprising
Detection module, for detecting the signal that target object is sent in target area；
Module is obtained, for obtaining the signal strength of the signal；
Determining module, for determining the first location information of the floor-cleaning machine according to the signal strength.
10. a kind of floor-cleaning machine characterized by comprising
It identifies equipment, is set in floor-cleaning machine, the signal for sending to the target object in target area detects, and obtains
Take the signal strength of the signal；
Positioning device is connect with the identification equipment, for determining the first position of the floor-cleaning machine according to the signal strength
Information.
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