CN109460040A - It is a kind of that map system and method are established by mobile phone shooting photo array floor - Google Patents
It is a kind of that map system and method are established by mobile phone shooting photo array floor Download PDFInfo
- Publication number
- CN109460040A CN109460040A CN201811620913.8A CN201811620913A CN109460040A CN 109460040 A CN109460040 A CN 109460040A CN 201811620913 A CN201811620913 A CN 201811620913A CN 109460040 A CN109460040 A CN 109460040A
- Authority
- CN
- China
- Prior art keywords
- floor
- module
- picture
- sweeping robot
- mobile phone
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000010408 sweeping Methods 0.000 claims abstract description 77
- 238000012545 processing Methods 0.000 claims abstract description 27
- 238000004140 cleaning Methods 0.000 claims abstract description 21
- 230000009466 transformation Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 5
- 230000009977 dual effect Effects 0.000 claims description 4
- 230000002194 synthesizing effect Effects 0.000 claims description 3
- 238000009738 saturating Methods 0.000 claims 1
- 238000005406 washing Methods 0.000 claims 1
- 238000013507 mapping Methods 0.000 abstract description 3
- 241001417527 Pempheridae Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
Map system and method are established by mobile phone shooting photo array floor the invention discloses a kind of, more particularly to cleaning map system field, including cell phone processor, the cell phone processor connecting pin is equipped with mobile phone camera, gyroscope and level meter, the cell phone processor output end is equipped with picture processing module and verifying computing module, the picture processing module output end is equipped with picture splicing module, the picture splicing module output end is equipped with size and calculates planning module, and the size calculates planning module and connect with cell phone processor.The present invention shoots indoor scene by mobile phone camera by cell phone application, with mobile phone level meter, gyroscope, picture processing module carries out 3D transformation to flat image, establish indoor plane map, indoor map is established and after programme path, map datum is sent to sweeping robot, sweeping robot is saved in the machine after receiving map, and sweeping robot carries out efficient navigation cleaning floor by map.
Description
Technical field
The present invention relates to map system technical field is cleaned, it is more particularly related to which a kind of shot by mobile phone
Map system and method are established in photo array floor.
Background technique
Sweeping robot generally uses infrared sensor or other distance measuring sensors when in use at present, and it is clear to carry out avoidance
It sweeps, results in robot to compare when in use blindly in this way, many positions are all cleaned less than sweeping efficiency is poor.
Existing indoor map generate it is general generation map is carried out by Laser Scanning Equipment, but higher cost, using not
It is convenient.
Summary of the invention
In order to overcome the drawbacks described above of the prior art, the embodiment of the present invention provides one kind and shoots photo array by mobile phone
Map system and method are established in floor, by cell phone application by mobile phone camera shoot indoor scene, with mobile phone level meter,
Gyroscope, picture processing module carry out 3D transformation to flat image, establish indoor plane map, indoor map is established and plans road
After line, map datum is sent to sweeping robot, sweeping robot is saved in the machine after receiving map, and sweeping robot is logical
It crosses map and carries out efficient navigation cleaning floor.
To achieve the above object, the invention provides the following technical scheme: a kind of built by mobile phone shooting photo array floor
On the spot drawing system, including cell phone processor, the cell phone processor connecting pin are equipped with mobile phone camera, gyroscope and level meter,
The cell phone processor output end is equipped with picture processing module and verifying computing module, and the picture processing module output end is equipped with
Picture splicing module, the picture splicing module output end are equipped with size and calculate planning module, and the size calculates planning module
It is connect with cell phone processor, the size calculates planning module input terminal and connect with verifying computing module output end, the mobile phone
Processor connecting pin is equipped with sweeping robot controller, and sweeping robot controller connecting pin is equipped with distance measuring unit, described
Sweeping robot controller output end is equipped with four-wheel drive system, and the sweeping robot controller output end and verifying calculate mould
The connection of block input terminal；
The picture processing module is used for the mobile phone angle detected according to gyroscope and level meter, and mobile phone camera is shot
Flat image, carry out the processing of 3D transformation calculations, draw photographed scene in floor vertical view picture, be then forwarded to picture splicing
Module；
The picture splicing module is used to splice in the vertical view picture of multiple reduction, forms a complete width and is not hidden
The floor top plan view picture of gear；
The size calculates mobile phone angle-data, the cell-phone camera that planning module is used to detect according to gyroscope and level meter
Head focal length and detection object range data, calculate the planar dimension on the floor not being blocked, carry out according to the distribution on floor
Planning cleans distance, is sent to sweeping robot controller, and with verifying computing module with the use of the error after calculating verifying
Size；
The practical cleaning distance and bottom plate that the verifying computing module is used to be fed back according to sweeping robot controller
Planar dimension compares, and calculates two values ratio and is sent to size calculating planning module, and sweeping robot is final
The route of cleaning is compared with plane drawing, shows the floor location not cleaned.
In a preferred embodiment, the cell phone processor passes through bluetooth module or wireless module and machine of sweeping the floor
The connection of people's controller.
In a preferred embodiment, the distance measuring unit is specially infrared sensor or automobile data recorder, is used for
Measure the distance of sweeping robot walking.
In a preferred embodiment, the mobile phone camera can be dual camera or infrared camera, can
Camera is measured apart from the distance between object.
The method that map is established on photo array floor is shot by mobile phone the present invention also provides a kind of, is specifically included following
Step:
Step 1: picture can be multiple firstly, shooting indoor floor picture by mobile phone camera, need to own
Picture is beaten on floor, and the picture of shooting is stored in cell phone processor；
Step 2: picture is sent to picture processing module by cell phone processor, the hand detected according to gyroscope and level meter
Picture is carried out the processing of 3D transformation calculations by machine angle, and the flat image stretch processing with perspective is real at what is do not had an X-rayed
Top plan view picture, and obtain indoor floor and be not blocked the full-size(d) at place, shooting is drawn in reduction according to a certain percentage
The vertical view picture on floor, is then forwarded to picture splicing module in scene；
Step 3: the vertical view picture that picture splicing module restores multiple splices, intersection, and setting are removed
At the top of the floor and the part on floor is blocked, the part that is blocked does not include vacantly being set to floor for the part contacted with floor
The part at top, the floor part that can be cleared up by sweeping robot form the floor that a complete width is not blocked and overlook
Plane picture, the picture after then synthesizing are sent to size and calculate planning module；
Step 4: size calculates mobile phone angle-data, the cell-phone camera that planning module is detected according to gyroscope and level meter
Head focal length and detection object range data, calculate the planar dimension on the floor not being blocked, and mark the ruler of every line
It is very little, planning is carried out according to the distribution on floor and cleans distance, and the distance after planning is good is programmed, and machine of sweeping the floor is sent to after programming
People's controller；
Step 5: sweeping robot controller receives the planar dimension figure on floor and cleans distance, then controls four-wheel and drive
Dynamic system is walked, and one section of straight line distance is chosen when just having started walking and is cleared up, after cleaning, distance measuring unit is able to detect that
The distance of sweeping robot walking；
Step 6: this distance is sent to cell phone processor by sweeping robot controller, cell phone processor sends data
Verifying computing module is given, verifying computing module is compared according to this distance and the size on planar dimension figure, if unanimously, it will
Information feeds back to sweeping robot controller through cell phone processor, and sweeping robot controller controls sweeping robot according to planning
Route continues to clean, if inconsistent, calculates two values ratio, this ratio is sent to size and calculates planning mould
Block；
Floor level size is contracted according to the difference ratio of verifying computing module feedback Step 7: size calculates planning module
It puts, until obtaining true floor map size, then obtained floor full-size(d) is planned again and cleans distance, after planning is good
Distance be programmed, be sent to sweeping robot controller after programming, sweeping robot controller controls sweeping robot edge
Programme path cleaned；
Step 8: after the completion of sweeping robot cleaning, verifying computing module can be by the route of cleaning and plane drawing
It compares, the floor for failing to clean can be checked through mobile phone, user can show that find this position clear manually according to the map
Reason.
Technical effect and advantage of the invention:
1, the present invention by cell phone application by mobile phone camera shooting indoor scene, with mobile phone level meter, gyroscope,
Picture processing module carries out 3D transformation to flat image, establishes indoor plane map, and indoor map is established and after programme path,
Map datum is sent to sweeping robot, and sweeping robot is saved in the machine after receiving map, and sweeping robot passes through map
Carry out efficient navigation cleaning floor；
2, using the setting of verifying computing module, the practical cleaning distance that is fed back according to sweeping robot controller with
Base plate plane size compares, and calculates two values ratio, this ratio is sent to size and calculates planning module, size meter
Planning module is calculated according to the difference ratio of verifying computing module feedback by floor level size scaling, until obtaining true floor
Map size, floor measurement accuracy are higher；
3, after the completion of sweeping robot cleaning, verifying computing module can be carried out the route of cleaning and plane drawing pair
Than that can check the floor for failing to clean through mobile phone, user can show that find this position clears up manually according to the map.
Detailed description of the invention
Fig. 1 is overall system structure schematic diagram of the invention.
Appended drawing reference are as follows: 1 cell phone processor, 2 mobile phone cameras, 3 gyroscopes, 4 level meters, 5 picture processing modules, 6 are tested
It demonstrate,proves computing module, 7 picture splicing modules, 8 sizes and calculates planning module, 9 sweeping robot controllers, 10 distance measuring units, 11 4
Wheel drive system.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1:
Photo array floor is shot by mobile phone the present invention provides one kind as shown in Figure 1 and establishes map system, including
Cell phone processor 1,1 connecting pin of cell phone processor is equipped with mobile phone camera 2, gyroscope 3 and level meter 4, at the mobile phone
It manages 1 output end of device and is equipped with picture processing module 5 and verifying computing module 6,5 output end of picture processing module is spelled equipped with picture
Connection module 7,7 output end of picture splicing module are equipped with size and calculate planning module 8, the size calculate planning module 8 with
Cell phone processor 1 connects, and the size calculates 8 input terminal of planning module and connect with verifying 6 output end of computing module, the mobile phone
1 connecting pin of processor is equipped with sweeping robot controller 9, and 9 connecting pin of sweeping robot controller is equipped with distance measuring unit 10,
9 output end of sweeping robot controller be equipped with four-wheel drive system 11,9 output end of sweeping robot controller with test
Demonstrate,prove the connection of 6 input terminal of computing module；
The picture processing module 5 is used for the mobile phone angle detected according to gyroscope 3 and level meter 4, by mobile phone camera 2
The flat image of shooting carries out the processing of 3D transformation calculations, draws the vertical view picture on floor in photographed scene, is then forwarded to picture
Splicing module 7；
The picture splicing module 7 is used to splice in the vertical view picture of multiple reduction, formed a complete width not by
The floor top plan view picture blocked；
The size calculates mobile phone angle-data, the mobile phone that planning module 8 is used to detect according to gyroscope 3 and level meter 4
2 focal length of camera and detection object range data, calculate the planar dimension on the floor not being blocked, according to the distribution on floor
Carry out planning and clean distance, be sent to sweeping robot controller 9, and with verifying computing module 6 with the use of verifying is calculated after
Error size；
The practical cleaning distance and bottom that the verifying computing module 6 is used to be fed back according to sweeping robot controller 9
Plate planar dimension compares, and calculates two values ratio and is sent to size calculating planning module 8, and most by sweeping robot
The route cleaned eventually is compared with plane drawing, shows the floor location not cleaned；
The method that map is established on photo array floor is shot by mobile phone the present invention also provides a kind of, is specifically included following
Step:
Step 1: picture can be multiple firstly, shooting indoor floor picture by mobile phone camera 2, need to own
Picture is beaten on floor, and the picture of shooting is stored in cell phone processor 1；
Step 2: picture is sent to picture processing module 5 by cell phone processor 1, detected according to gyroscope 3 and level meter 4
Mobile phone angle, picture is subjected to 3D transformation calculations processing, by the flat image stretch processing with perspective at not having an X-rayed
Real top plan view picture, and obtain indoor floor and be not blocked the full-size(d) at place, reduction is drawn according to a certain percentage
The vertical view picture on floor, is then forwarded to picture splicing module 7 in photographed scene；
Step 3: picture splicing module 7 splices multiple vertical view pictures restored, intersection, Yi Jishe are removed
It is placed at the top of floor and blocks the part on floor, the part that is blocked does not include vacantly being set to ground for the part contacted with floor
Part at the top of plate, the floor part that can be cleared up by sweeping robot form the floor that a complete width is not blocked and bow
View plane picture, the picture after then synthesizing are sent to size and calculate planning module 8；
It is taken the photograph Step 4: size calculates planning module 8 according to mobile phone angle-data, the mobile phone that gyroscope 3 and level meter 4 detect
As 2 focal length of head and detection object range data, the planar dimension on the floor not being blocked is calculated, and mark every line
Size carries out planning according to the distribution on floor and cleans distance, and the distance after planning is good is programmed, and sweeper is sent to after programming
Device people controller 9；
Step 5: sweeping robot controller 9 receives the planar dimension figure on floor and cleans distance, then controls four-wheel and drive
Dynamic system 11 is walked, and one section of straight line distance is chosen when just having started walking and is cleared up, after cleaning, distance measuring unit 10 can be examined
Measure the distance of sweeping robot walking；
Step 6: this distance is sent to cell phone processor 1 by sweeping robot controller 9, cell phone processor 1 sends out data
Verifying computing module 6 is given, verifying computing module 6 is compared according to this distance and the size on planar dimension figure, if unanimously,
Information is then fed back into sweeping robot controller 9 through cell phone processor 1, sweeping robot controller 9 controls sweeping robot
Continue to clean according to programme path, if inconsistent, calculate two values ratio, this ratio is sent to size and is calculated
Planning module 8；
Step 7: size calculates difference ratio that planning module 8 is fed back according to verifying computing module 6 for floor level size
Scaling until obtaining true floor map size, then obtained floor full-size(d) is planned again and cleans distance, planned
Distance afterwards is programmed, and sweeping robot controller 9 is sent to after programming, and sweeping robot controller 9 controls machine of sweeping the floor
People cleans along programme path；
Step 8: after the completion of sweeping robot cleaning, verifying computing module 6 can be by the route of cleaning and plane drawing
It compares, the floor for failing to clean can be checked through mobile phone, user can show that find this position clear manually according to the map
Reason.
Indoor scene is shot by mobile phone camera 2 by cell phone application, with mobile phone level meter 4, gyroscope 3, at picture
It manages module 5 and 3D transformation is carried out to flat image, floor is identified, and restore floor edge and actual size, to establish room
Inner plane map, indoor map are established and after programme paths, map datum are sent to sweeping robot, sweeping robot receives
The machine is saved in after to map, sweeping robot carries out efficient navigation cleaning floor by this map.
Embodiment 2:
The cell phone processor 1 is connect by bluetooth module or wireless module with sweeping robot controller 9；
The distance measuring unit 10 be specially infrared sensor or automobile data recorder, for measure sweeping robot walking away from
From；
The mobile phone camera 2 can be dual camera or infrared camera, can measure camera between object
Distance, according to infrared camera or dual camera can measure camera distance shooting object distance, the focal length of camera
Centainly, shooting angle is measured through gyroscope 3 and level meter 4, so as to obtain out the actual size of object.
The several points that should finally illustrate are: firstly, in the description of the present application, it should be noted that unless otherwise prescribed and
It limits, term " installation ", " connected ", " connection " shall be understood in a broad sense, can be mechanical connection or electrical connection, be also possible to two
Connection inside element, can be directly connected, and "upper", "lower", "left", "right" etc. are only used for indicating relative positional relationship, when
The absolute position for being described object changes, then relative positional relationship may change；
Secondly: the present invention discloses in embodiment attached drawing, relates only to the structure being related to the embodiment of the present disclosure, other knots
Structure, which can refer to, to be commonly designed, and under not conflict situations, the same embodiment of the present invention and different embodiments be can be combined with each other；
Last: the foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, all in the present invention
Spirit and principle within, any modification, equivalent replacement, improvement and so on, should be included in protection scope of the present invention it
It is interior.
Claims (5)
1. a kind of establish map system, including cell phone processor (1) by mobile phone shooting photo array floor, it is characterised in that:
Cell phone processor (1) connecting pin is equipped with mobile phone camera (2), gyroscope (3) and level meter (4), the cell phone processor
(1) output end is equipped with picture processing module (5) and verifying computing module (6), and picture processing module (5) output end is equipped with figure
Piece splicing module (7), picture splicing module (7) output end are equipped with size and calculate planning module (8), and the size calculates rule
It draws module (8) to connect with cell phone processor (1), the size calculates planning module (8) input terminal and verifying computing module (6) is defeated
Outlet connection, cell phone processor (1) connecting pin are equipped with sweeping robot controller (9), the sweeping robot controller
(9) connecting pin is equipped with distance measuring unit (10), and sweeping robot controller (9) output end is equipped with four-wheel drive system (11),
Sweeping robot controller (9) output end is connect with verifying computing module (6) input terminal；
The picture processing module (5) is used for the mobile phone angle detected according to gyroscope (3) and level meter (4), by cell-phone camera
The flat image of head (2) shooting, carries out the processing of 3D transformation calculations, draws the vertical view picture on floor in photographed scene, then sends
To picture splicing module (7)；
The picture splicing module (7) is used to splice in the vertical view picture of multiple reduction, forms a complete width and is not hidden
The floor top plan view picture of gear；
The size calculates mobile phone angle-data, the hand that planning module (8) are used to detect according to gyroscope (3) and level meter (4)
Machine camera (2) focal length and detection object range data, calculate the planar dimension on the floor not being blocked, according to floor
Distribution carries out planning and cleans distance, is sent to sweeping robot controller (9), and with verifying computing module (6) with the use of meter
Error size after calculating verifying；
The practical cleaning distance and bottom that verifying computing module (6) is used to be fed back according to sweeping robot controller (9)
Plate planar dimension compares, and calculates two values ratio and is sent to size and calculates planning module (8), and by sweeping robot
The route finally cleaned is compared with plane drawing, shows the floor location not cleaned.
2. one kind according to claim 1 shoots photo array floor by mobile phone and establishes map system, it is characterised in that:
The cell phone processor (1) is connect by bluetooth module or wireless module with sweeping robot controller (9).
3. one kind according to claim 1 shoots photo array floor by mobile phone and establishes map system, it is characterised in that:
The distance measuring unit (10) is specially infrared sensor or automobile data recorder, for measuring the distance of sweeping robot walking.
4. one kind according to claim 1 shoots photo array floor by mobile phone and establishes map system, it is characterised in that:
The mobile phone camera (2) can be dual camera or infrared camera, can measure camera apart from the distance between object.
5. a kind of shoot the method that map is established on photo array floor by mobile phone, it is characterised in that: specifically includes the following steps:
Step 1: picture can be multiple, and needing will allly firstly, shooting indoor floor picture by mobile phone camera (2)
Plate beats in picture, and picture deposit cell phone processor (1) of shooting is interior；
Step 2: picture is sent to picture processing module (5) by cell phone processor (1), according to gyroscope (3) and level meter (4)
Picture is carried out the processing of 3D transformation calculations by the mobile phone angle of detection, by the flat image stretch processing with perspective at not saturating
Depending on real top plan view picture, and obtain indoor floor and be not blocked the full-size(d) at place, restore according to a certain percentage
The vertical view picture for drawing floor in photographed scene, is then forwarded to picture splicing module (7)；
Step 3: picture splicing module (7) splices multiple vertical view pictures restored, intersection, and setting are removed
At the top of the floor and the part on floor is blocked, the part that is blocked does not include vacantly being set to floor for the part contacted with floor
The part at top, the floor part that can be cleared up by sweeping robot form the floor that a complete width is not blocked and overlook
Plane picture, the picture after then synthesizing are sent to size and calculate planning module (8)；
Step 4: size calculates mobile phone angle-data, the mobile phone that planning module (8) are detected according to gyroscope (3) and level meter (4)
Camera (2) focal length and detection object range data, calculate the planar dimension on the floor not being blocked, and mark every
The size of line carries out planning according to the distribution on floor and cleans distance, and the distance after planning is good is programmed, is sent to and sweeps after programming
Floor-washing robot controller (9)；
Step 5: sweeping robot controller (9) receives the planar dimension figure on floor and cleans distance, four-wheel drive is then controlled
System (11) is walked, and one section of straight line distance is chosen when just having started walking and is cleared up, after cleaning, distance measuring unit (10) can
Detect the distance of sweeping robot walking；
Step 6: this distance is sent to cell phone processor (1) by sweeping robot controller (9), cell phone processor (1) is by data
It is sent to verifying computing module (6), verifying computing module (6) is compared according to this distance and the size on planar dimension figure,
If consistent, information is fed back to sweeping robot controller (9) through cell phone processor (1), sweeping robot controller (9) control
Sweeping robot processed continues to clean according to programme path, if inconsistent, calculates two values ratio, this ratio is sent out
It send to size and calculates planning module (8)；
Step 7: size calculates planning module (8) according to the difference ratio of verifying computing module (6) feedback for floor level size
Scaling until obtaining true floor map size, then obtained floor full-size(d) is planned again and cleans distance, planned
Distance afterwards is programmed, and is sent to after programming sweeping robot controller (9), and sweeping robot controller (9) control is swept the floor
Robot is cleaned along programme path；
Step 8: after the completion of sweeping robot cleaning, verifying computing module (6) can by the route of cleaning and plane drawing into
Row comparison, the floor for failing to clean can be checked through mobile phone, and user can show that find this position clears up manually according to the map.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811620913.8A CN109460040A (en) | 2018-12-28 | 2018-12-28 | It is a kind of that map system and method are established by mobile phone shooting photo array floor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811620913.8A CN109460040A (en) | 2018-12-28 | 2018-12-28 | It is a kind of that map system and method are established by mobile phone shooting photo array floor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109460040A true CN109460040A (en) | 2019-03-12 |
Family
ID=65615296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811620913.8A Pending CN109460040A (en) | 2018-12-28 | 2018-12-28 | It is a kind of that map system and method are established by mobile phone shooting photo array floor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109460040A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110487273A (en) * | 2019-07-15 | 2019-11-22 | 电子科技大学 | A kind of indoor pedestrian track projectional technique of level meter auxiliary |
| CN110825088A (en) * | 2019-11-29 | 2020-02-21 | 燕山大学 | Multi-view vision guiding ship body cleaning robot system and cleaning method |
| CN111127648A (en) * | 2019-12-30 | 2020-05-08 | 杭州网易再顾科技有限公司 | Indoor plane map generation method and device and sweeping map generation method |
| CN111899373A (en) * | 2020-08-05 | 2020-11-06 | 中国工商银行股份有限公司 | Method and device for determining inspection point of machine room, robot and storage medium |
| CN112535436A (en) * | 2020-12-02 | 2021-03-23 | 江门市国彬机器人有限公司 | Intelligent walking sweeping robot guiding system |
| WO2022000757A1 (en) * | 2020-06-29 | 2022-01-06 | 济南浪潮高新科技投资发展有限公司 | Ar-based robot internet of things interaction method and apparatus, and medium |
| CN114543684A (en) * | 2022-04-26 | 2022-05-27 | 中国地质大学（北京） | Structural displacement measuring method |
| CN114983279A (en) * | 2022-06-24 | 2022-09-02 | 珠海格力电器股份有限公司 | Control method and device of sweeping robot, sweeping robot and storage medium |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040097946A (en) * | 2003-05-12 | 2004-11-18 | 오영범 | A gpp which is made up of photo position map and it's manufacturing method |
| WO2009014332A2 (en) * | 2007-07-23 | 2009-01-29 | Electronics And Telecommunications Research Institute | Method and system for creating indoor environment map |
| US20090043504A1 (en) * | 2007-05-31 | 2009-02-12 | Amrit Bandyopadhyay | System and method for locating, tracking, and/or monitoring the status of personnel and/or assets both indoors and outdoors |
| CN102866706A (en) * | 2012-09-13 | 2013-01-09 | 深圳市银星智能科技股份有限公司 | Cleaning robot adopting smart phone navigation and navigation cleaning method thereof |
| CN104718462A (en) * | 2013-05-20 | 2015-06-17 | 英特尔公司 | Techniques for merging virtual and physical floor maps |
| CN104978476A (en) * | 2014-04-14 | 2015-10-14 | 李巍岳 | Method for carrying out on-site supplementary survey of indoor map by smartphone |
| CN105302131A (en) * | 2014-07-22 | 2016-02-03 | 德国福维克控股公司 | Method for cleaning or processing a room using an automatically moved device |
| CN105424007A (en) * | 2015-12-22 | 2016-03-23 | 长光卫星技术有限公司 | Movable mapping platform |
| CN105592155A (en) * | 2015-12-26 | 2016-05-18 | 龚敬 | Photograph shooting and geographical position storage, display and sharing based on mobile terminal |
| CN106780325A (en) * | 2016-11-29 | 2017-05-31 | 维沃移动通信有限公司 | A kind of picture joining method and mobile terminal |
| CN107238387A (en) * | 2017-05-03 | 2017-10-10 | 广东精讯科技股份有限公司 | Utilize the method for smart mobile phone planning robot's track route |
| CN107305133A (en) * | 2016-04-22 | 2017-10-31 | 中兴通讯股份有限公司 | The collection picture approach and device of a kind of mobile terminal |
| CN107798720A (en) * | 2016-08-30 | 2018-03-13 | 中兴通讯股份有限公司 | A kind of method for drawing map and its device, mobile terminal |
| CN108459597A (en) * | 2017-07-26 | 2018-08-28 | 炬大科技有限公司 | A kind of mobile electronic device and method for handling the task of mission area |
-
2018
- 2018-12-28 CN CN201811620913.8A patent/CN109460040A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040097946A (en) * | 2003-05-12 | 2004-11-18 | 오영범 | A gpp which is made up of photo position map and it's manufacturing method |
| US20090043504A1 (en) * | 2007-05-31 | 2009-02-12 | Amrit Bandyopadhyay | System and method for locating, tracking, and/or monitoring the status of personnel and/or assets both indoors and outdoors |
| WO2009014332A2 (en) * | 2007-07-23 | 2009-01-29 | Electronics And Telecommunications Research Institute | Method and system for creating indoor environment map |
| CN102866706A (en) * | 2012-09-13 | 2013-01-09 | 深圳市银星智能科技股份有限公司 | Cleaning robot adopting smart phone navigation and navigation cleaning method thereof |
| CN104718462A (en) * | 2013-05-20 | 2015-06-17 | 英特尔公司 | Techniques for merging virtual and physical floor maps |
| CN104978476A (en) * | 2014-04-14 | 2015-10-14 | 李巍岳 | Method for carrying out on-site supplementary survey of indoor map by smartphone |
| CN105302131A (en) * | 2014-07-22 | 2016-02-03 | 德国福维克控股公司 | Method for cleaning or processing a room using an automatically moved device |
| CN105424007A (en) * | 2015-12-22 | 2016-03-23 | 长光卫星技术有限公司 | Movable mapping platform |
| CN105592155A (en) * | 2015-12-26 | 2016-05-18 | 龚敬 | Photograph shooting and geographical position storage, display and sharing based on mobile terminal |
| CN107305133A (en) * | 2016-04-22 | 2017-10-31 | 中兴通讯股份有限公司 | The collection picture approach and device of a kind of mobile terminal |
| CN107798720A (en) * | 2016-08-30 | 2018-03-13 | 中兴通讯股份有限公司 | A kind of method for drawing map and its device, mobile terminal |
| CN106780325A (en) * | 2016-11-29 | 2017-05-31 | 维沃移动通信有限公司 | A kind of picture joining method and mobile terminal |
| CN107238387A (en) * | 2017-05-03 | 2017-10-10 | 广东精讯科技股份有限公司 | Utilize the method for smart mobile phone planning robot's track route |
| CN108459597A (en) * | 2017-07-26 | 2018-08-28 | 炬大科技有限公司 | A kind of mobile electronic device and method for handling the task of mission area |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110487273A (en) * | 2019-07-15 | 2019-11-22 | 电子科技大学 | A kind of indoor pedestrian track projectional technique of level meter auxiliary |
| CN110825088A (en) * | 2019-11-29 | 2020-02-21 | 燕山大学 | Multi-view vision guiding ship body cleaning robot system and cleaning method |
| CN111127648A (en) * | 2019-12-30 | 2020-05-08 | 杭州网易再顾科技有限公司 | Indoor plane map generation method and device and sweeping map generation method |
| WO2022000757A1 (en) * | 2020-06-29 | 2022-01-06 | 济南浪潮高新科技投资发展有限公司 | Ar-based robot internet of things interaction method and apparatus, and medium |
| CN111899373A (en) * | 2020-08-05 | 2020-11-06 | 中国工商银行股份有限公司 | Method and device for determining inspection point of machine room, robot and storage medium |
| CN112535436A (en) * | 2020-12-02 | 2021-03-23 | 江门市国彬机器人有限公司 | Intelligent walking sweeping robot guiding system |
| CN114543684A (en) * | 2022-04-26 | 2022-05-27 | 中国地质大学（北京） | Structural displacement measuring method |
| CN114983279A (en) * | 2022-06-24 | 2022-09-02 | 珠海格力电器股份有限公司 | Control method and device of sweeping robot, sweeping robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109460040A (en) | It is a kind of that map system and method are established by mobile phone shooting photo array floor | |
| US10825198B2 (en) | 3 dimensional coordinates calculating apparatus, 3 dimensional coordinates calculating method, 3 dimensional distance measuring apparatus and 3 dimensional distance measuring method using images | |
| CN109813335B (en) | Calibration method, device and system of data acquisition system and storage medium | |
| US7747150B2 (en) | Image processing device and method | |
| CN102338639B (en) | Information processing device and information processing method | |
| CN105424006A (en) | Unmanned aerial vehicle hovering precision measurement method based on binocular vision | |
| JP2010507127A (en) | Computer apparatus and method for matching position data of different sources | |
| CN103890541B (en) | Device and method for measuring diameter of cylindrical object | |
| CN112492292B (en) | Intelligent visual 3D information acquisition equipment of free gesture | |
| CN102519434A (en) | Test verification method for measuring precision of stereoscopic vision three-dimensional recovery data | |
| KR20170094030A (en) | System and Method for providing mapping of indoor navigation and panorama pictures | |
| JP2005017286A (en) | Method and system for camera calibration | |
| CN112254675B (en) | Space occupancy rate acquisition and judgment equipment and method containing moving object | |
| JP2003042732A (en) | Apparatus, method and program for measurement of surface shape as well as surface-state mapping apparatus | |
| Barczyk et al. | Towards realistic covariance estimation of ICP-based Kinect V1 scan matching: The 1D case | |
| JP2980195B2 (en) | Method and apparatus for measuring rebar diameter | |
| JP3842988B2 (en) | Image processing apparatus for measuring three-dimensional information of an object by binocular stereoscopic vision, and a method for recording the same, or a recording medium recording the measurement program | |
| JP4649192B2 (en) | Stereo image creation method and three-dimensional data creation apparatus | |
| JP2004245741A (en) | Aerial photographic survey method | |
| Yamauchi et al. | Calibration of a structured light system by observing planar object from unknown viewpoints | |
| JP2009229182A (en) | Feature-on-image measurement method, display method, and measurement apparatus | |
| CN109712200B (en) | Binocular positioning method and system based on least square principle and side length reckoning | |
| JP4550081B2 (en) | Image measurement method | |
| Martínez et al. | Non-contact 3D measurement of buildings through close range photogrammetry and a laser distance meter | |
| JPH10185563A (en) | Photogrammetry target and photogrammetry using the photogrammetry target |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190312 |
|
| RJ01 | Rejection of invention patent application after publication |