CN109497893A - A kind of sweeping robot and its method for judging self-position - Google Patents
A kind of sweeping robot and its method for judging self-position Download PDFInfo
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- CN109497893A CN109497893A CN201811622927.3A CN201811622927A CN109497893A CN 109497893 A CN109497893 A CN 109497893A CN 201811622927 A CN201811622927 A CN 201811622927A CN 109497893 A CN109497893 A CN 109497893A
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of sweeping robot and its judge the method for self-position, sweeping robot includes robot body, robot body top is provided with camera, power plant module, walking module, cleaning module, detection module and control module are provided on robot body, power plant module, walking module, cleaning module, detection module, camera are connect with control module；The control module includes image analyzing unit, image comparison unit, processing unit, memory unit；Sweeping robot judges the method for self-position the following steps are included: S1, setting origin, establish top image matrix, be stored in memory unit；S2, it takes pictures and passes to image analyzing unit；S3, analysis result is sent to image comparison unit；S4, identical top image is found in top image matrix；S5, azimuth, the distance that the place and origin are determined by top image matrix, to judge the position of sweeping robot.
Description
Technical field
The present invention relates to robot field more particularly to a kind of sweeping robot and its methods for judging self-position.
Background technique
With the development of society, people's lives level is gradually increased, sweeping robot as household cleaning electric appliance
Increasingly by people's pro-gaze.Existing sweeping robot generally uses gyroscope and code-disc, to the route of sweeping robot walking
It is calculated.Due to the error of gyroscope and code-disc, the path of sweeping robot track route offset plan is frequently resulted in.Especially
It is often sideslip when carrying out the walking of " bow " font or straight line walking.That is, existing sweeping robot is difficult to know
It itself is in the specific location in region to be cleaned, so as to cause there is the problem of route sideslip.
In order to solve the problems, such as that sweeping robot sideslip, existing sweeping robot use a laser to ranging and navigator fix,
The distance of sweeping robot periphery object is calculated, to judge whether sweeping robot walks by the path of planning.Due to laser
Speed it is very fast, operand is very big, and programmed algorithm is also just relatively very complicated, and to the selection of surrounding reference object exist with
Therefore machine is still difficult to solve the problems, such as that sweeping robot judges self-position come planning path with the method for laser ranging.
Summary of the invention
Object of the present invention is in view of the above-mentioned problems, providing a kind of sweeping robot and its judging the method for self-position.
To achieve the goals above, the technical scheme is that
A kind of sweeping robot, including robot body are provided with power plant module, walking module, clear on robot body
Clean module, detection module and control module, power plant module respectively with walking module, cleaning module, detection module, control module line
Road connection, the robot body top are provided with camera, camera, walking module, cleaning module, detection module with control
Molding block connection, the control module include image analyzing unit, image comparison unit, processing unit, memory unit；Figure
As analytical unit signal input part and camera signals output end connection, image analyzing unit signal output end respectively with note
Recall the signal input part connection of unit, image comparison unit, the signal output end of detection module is single with memory unit, processing respectively
The signal input part connection of member, the signal output end of memory unit are connect with the signal input part of image comparison unit, image pair
Than the signal input part of the signal output end connection processing unit of unit, the signal output end of processing unit is separately connected walking mould
The signal input part of block, cleaning module.
Further, the power plant module includes rechargeable battery and charging control circuit, rechargeable battery and charge control
Circuit connection, rechargeable battery pass through connection walking module, cleaning module, detection module, control module.
Further, the walking module includes traveling wheel group and driving motor, the output of traveling wheel group and driving motor
Axis connection, driving motor and processing unit connection.
Further, the cleaning module include brush, brush motor, while brush, while brush motor, dirt box；Brush and brush
The output axis connection of motor, while brush with while brush motor output axis connection, brush motor, side brush motor with processing unit route
Connection.
Further, the detection module includes collision detection unit, falls detection unit, liftoff detection unit, battery
Electric power detection unit, gyroscope and code-disc；Collision detection unit falls detection unit, liftoff detection unit, gyroscope and code-disc
With memory unit connection, battery capacity detection unit and processing unit connection.
A kind of method that sweeping robot as described in claim 1 judges self-position, comprising the following steps:
S1, charge point is positioned as origin, allows sweeping robot in all walking one times of cleaning region, and region will be cleaned
In each place top image, with the azimuth of origin, be combined preservation at a distance from origin；Ultimately form a cleaning
The top image matrix in region, is stored in memory unit；
S2, when sweeping robot positions self-position, the camera positioned at robot body bottom end is by the ground
The top image of point is filmed and passes to image analyzing unit；
The pixel and construction characteristic for the top image that S3, image analyzing unit take camera are analyzed, and
Analysis result is sent to image comparison unit；
The top in top image information and memory unit that S4, image comparison unit send over image analyzing unit
Image array compares, and top image identical with the top image information is found from top image matrix；
S5, after finding top image, azimuth, the distance in the place and origin are determined by top image matrix, thus
It can accurately determine the self-position of sweeping robot.
Compared with prior art, the advantages and positive effects of the present invention are:
The present invention by robot body top be arranged camera and in the control module be arranged image analyzing unit,
The design method of image comparison unit allows sweeping robot according to the construction characteristic of cleaning overlying regions to machine of sweeping the floor
Position where people positions, and positioning more rapidly and accurately, avoids sweeping robot and occurs during cleaning
The situation of off-course deviation；And sweeping robot can position position when needing to charge, straight after charging
It takes back the position location to continue to sweep, the situation for avoiding repetition wipe clean region occurs；To improve machine of sweeping the floor
Use while task efficiency to people brings great convenience.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is frame construction drawing of the invention；
Fig. 2 is the connection framework figure of detection module.
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, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
As shown in Figure 1 and Figure 2, it is an object of the invention to propose a kind of sweeping robot and its judge the side of self-position
Method can make sweeping robot accurately judge the location of itself, and carry out cleaning operation by the path of planning.
Based on above-mentioned purpose, present invention provide the technical scheme that
A kind of sweeping robot, comprising: sweeping robot ontology is placed in the camera of sweeping robot bodies top；It sweeps
Floor-washing robot ontology includes: power plant module, walking module, cleaning module, detection module and control module.The power plant module packet
Include rechargeable battery and charging control circuit；The walking module includes traveling wheel group and driving motor；The cleaning module packet
Include brush, brush motor, while brush, while brush motor and dirt box；The detection module includes collision detection, falls detection, liftoff inspection
It surveys, battery capacity detects and recharge signal detection；The detection module further includes gyroscope and code-disc, to detect machine of sweeping the floor
The moving distance and movement speed of people；The control module includes image analyzing unit, image comparison unit, processing unit, note
Recall unit；Image analyzing unit signal input part and camera signals output end connection, the output of image analyzing unit signal
End connect respectively with the signal input part of memory unit, image comparison unit, the signal output end of detection module respectively with memory
The signal input part connection of unit, processing unit, the signal output end of memory unit and the signal input part of image comparison unit
Connection, the signal input part of the signal output end connection processing unit of image comparison unit, the signal output end point of processing unit
Not Lian Jie walking module, cleaning module signal input part.
The detection module includes collision detection unit, falls detection unit, liftoff detection unit, battery capacity detection list
Member, gyroscope and code-disc；Collision detection unit, to fall detection unit, liftoff detection unit, gyroscope and code-disc single with memory
First connection, battery capacity detection unit and processing unit connection.
Camera is installed at the top of sweeping robot, and camera is monocular cam, flutters catch ceiling image straight up.
Camera gets off the filming image of ceiling, carries out gray proces, and captured photo is carried out processes pixel.Comparison two
The picture pixels of the photo of short period of time, sweeping robot can clearly judge the difference of how many pixel, in conjunction with code
Disk and gyroscope, so that it may know sweeping robot in which orientation, how many distance moved.
Sweeping robot is according to the construction characteristic of ceiling, such as the connection straight line of beam or wall and ceiling, it can be determined that
Sweeping robot itself and beam or straight line angle carry out linear rows to select to carry out path planning with beam or straight line for reference
It walks or " bow " font is walked.Beam and straight line being presented as in photograph pixel, continuous straight and long and narrow pixel group.
Sweeping robot is acquired by this photograph image to ceiling, stores the pixel characteristic of each position.Each
The position in region to be cleaned can all form a corresponding pixel map on the ceiling.When sweeping robot is around region to be cleaned
After a week, complete ceiling image array has been established substantially.Sweeping robot is according to the pixel and feature of ceiling image, just
It can determine the corresponding position on ground.
Come if sweeping robot is lifted, is put into another position from a position, according to the characteristics of image of ceiling,
It can be determined that the specific location for being in ground.Namely construct the specific orientation on map.
In this way, if it is low to encounter electricity, needing to return to charge when sweeping robot carries out clean up task.At this point, mark
Remember that a ceiling characteristics of image, sweeping robot determine the clean position of the interruption, return to charge.Completion to be charged, then
The aforementioned clean position of interruption is returned to, clean up task is continued to execute.The cleaning efficiency that helps to improve sweeping robot, avoids
It has no progeny, repeats the region for cleaning cleaned mistake.
Each position on map, sweeping robot are all tagged to the characteristics of image position of ceiling, for example label fills
The position in power station is beneficial to sweeping robot and more quickly finds charging station, therefore can reduce search charging station signal
Time, charging station can be quickly found, quickly return charging.
For the barrier of fixations some on ground, such as furniture, sweeping robot can pass through when encountering barrier
The sensors such as collision detection stop to advance, and obstacle object one week.When such case occurs, the region immovable past always,
It can be equally marked in image array on the ceiling.It, can avoiding obstacles when next time encounters.
This method makes the positioning of sweeping robot more accurate, avoids and path deviation occurs using code-disc and gyroscope
Situation, use while improving the cleaning efficiency of sweeping robot to people brings great convenience.
Claims (6)
1. a kind of sweeping robot, including robot body, power plant module, walking module, cleaning are provided on robot body
Module, detection module and control module, power plant module respectively with walking module, cleaning module, detection module, control module route
Connection, it is characterised in that: the robot body top is provided with camera, camera, walking module, cleaning module, detection
Module with control module connection, the control module include image analyzing unit, image comparison unit, processing unit,
Memory unit；Image analyzing unit signal input part and camera signals output end connection, image analyzing unit signal are defeated
Outlet is connect with the signal input part of memory unit, image comparison unit respectively, the signal output end of detection module respectively with note
Recall the signal input part connection of unit, processing unit, the signal output end of memory unit and the signal of image comparison unit input
End connection, the signal input part of the signal output end connection processing unit of image comparison unit, the signal output end of processing unit
It is separately connected the signal input part of walking module, cleaning module.
2. sweeping robot as described in claim 1, it is characterised in that: the power plant module includes rechargeable battery and charging
Control circuit, rechargeable battery are connect with charging control circuit, and rechargeable battery passes through connection walking module, cleaning module, inspection
Survey module, control module.
3. sweeping robot as described in claim 1, it is characterised in that: the walking module includes traveling wheel group and driving electricity
The output axis connection of machine, traveling wheel group and driving motor, driving motor and processing unit connection.
4. sweeping robot as described in claim 1, it is characterised in that: the cleaning module includes brush, brush motor, side
Brush, side brush motor, dirt box；The output axis connection of brush and brush motor, while brush with while brush motor output axis connection, brush electricity
Machine, side brush motor with processing unit connection.
5. sweeping robot as described in claim 1, it is characterised in that: the detection module includes collision detection unit, falls
Fall detection unit, liftoff detection unit, battery capacity detection unit, gyroscope and code-disc；Collision detection unit falls detection list
First, liftoff detection unit, gyroscope and code-disc with memory unit connection, battery capacity detection unit and processing unit line
Road connection.
6. a kind of method that sweeping robot as claimed in claim 5 judges self-position, it is characterised in that: including following step
It is rapid:
S1, charge point is positioned as origin, allows sweeping robot in all walking one times of cleaning region, and will cleaned every in region
The top image in one place is combined preservation at a distance from the azimuth of origin and origin；Ultimately form a cleaning region
Top image matrix, be stored in memory unit；
S2, when sweeping robot positions self-position, the camera positioned at robot body bottom end is by the place
Top image is filmed and passes to image analyzing unit；
The pixel and construction characteristic for the top image that S3, image analyzing unit take camera are analyzed, and will point
Analysis result is sent to image comparison unit；
The top image in top image information and memory unit that S4, image comparison unit send over image analyzing unit
Matrix compares, and top image identical with the top image information is found from top image matrix；
S5, after finding top image, azimuth, the distance in the place and origin are determined by top image matrix, so as to
Accurately determine the self-position of sweeping robot.
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| CN201811622927.3A CN109497893A (en) | 2018-12-28 | 2018-12-28 | A kind of sweeping robot and its method for judging self-position |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111007851A (en) * | 2019-12-10 | 2020-04-14 | 武汉星巡智能科技有限公司 | Robot cleaning path planning method, device, equipment and storage medium |
| CN112288751A (en) * | 2020-10-12 | 2021-01-29 | 董宇青 | Automatic floor sweeping device and control algorithm |
| CN114287832A (en) * | 2021-12-30 | 2022-04-08 | 安徽协创物联网技术有限公司 | Floor sweeping robot system |
| CN114468453A (en) * | 2022-02-28 | 2022-05-13 | 河南奇点网络科技有限公司 | Building site safety helmet detecting system based on 5G technology |
| US11422566B2 (en) * | 2019-07-31 | 2022-08-23 | Lg Electronics Inc. | Artificial intelligence robot cleaner |
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Application publication date: 20190322 |