CN109512340A - A kind of control method and relevant device of clean robot - Google Patents

A kind of control method and relevant device of clean robot Download PDF

Info

Publication number
CN109512340A
CN109512340A CN201811489558.5A CN201811489558A CN109512340A CN 109512340 A CN109512340 A CN 109512340A CN 201811489558 A CN201811489558 A CN 201811489558A CN 109512340 A CN109512340 A CN 109512340A
Authority
CN
China
Prior art keywords
region
candidate
seat
recharges
confidence level
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.)
Granted
Application number
CN201811489558.5A
Other languages
Chinese (zh)
Other versions
CN109512340B (en
Inventor
肖杨
刘煜熙
杨志文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Feike Robot Co., Ltd.
Shenzhen Silver Star Intelligent Technology Co Ltd
Original Assignee
Shenzhen Feike Robot Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Feike Robot Co Ltd filed Critical Shenzhen Feike Robot Co Ltd
Priority to CN201811489558.5A priority Critical patent/CN109512340B/en
Publication of CN109512340A publication Critical patent/CN109512340A/en
Application granted granted Critical
Publication of CN109512340B publication Critical patent/CN109512340B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations

Landscapes

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

Abstract

This application provides a kind of control method of clean robot and relevant device, recognizing for being more easier recharges seat.This method comprises: acquiring the image in the corresponding coverage of the clean robot during clean robot executes cleaning task；Based on the image of clean robot acquisition, identification currently recharges seat；Determine the position for currently recharging seat and the confidence level for currently recharging seat；The candidate for obtaining storage recharges a region, the candidate recharge included at least in a region one recognized recharge a region；The candidate, which is updated, according to the position for currently recharging seat and the confidence level for currently recharging seat recharges a region.

Description

A kind of control method and relevant device of clean robot
Technical field
The present invention relates to robotic technology field, in particular to the control method and relevant device of a kind of clean robot.
Background technique
Clean robot needs searching to recharge seat and charges when electricity is lower than predetermined value in the prior art.It is existing Recharging scheme is mainly by clean robot and recharging on seat the infrared sensing device that installation emits and receive；Pass through inspection Measure infrared signal, guided robot is directed at charging to recharging near seat.It is this to recharge search pattern inefficiency, cleaning Robot, which is difficult to quickly find, recharges seat, to influence charge efficiency.
Summary of the invention
The embodiment of the invention provides a kind of control method of clean robot and relevant devices, and what can be more easier searches It seeks and recharges seat, to improve charge efficiency.
First aspect of the embodiment of the present invention provides a kind of clean robot, comprising:
Image acquisition units and processing unit；
Described image acquisition unit, for during the clean robot executes cleaning task, acquisition to shoot model Enclose interior image；
The processing unit is for executing following steps:
Based on the image of clean robot acquisition, identification currently recharges seat；
Determine the position for currently recharging seat and the confidence level for currently recharging seat；
The candidate for obtaining storage recharges a region, and the candidate, which recharges, includes at least time recognized in a region Fill a region；
The candidate, which is updated, according to the position for currently recharging seat and the confidence level for currently recharging seat recharges seat Region.
Optionally, the processing unit is according to the position for currently recharging seat and the confidence level for currently recharging seat Update candidate recharges a region and includes:
If the position for currently recharging seat does not recharge a region in the candidate, and the candidate recharges in a region and returns The number for filling region is not up to preset quantity, then increases the corresponding defined area in position for currently recharging seat newly and wait for first Favored area, first candidate region are contained in the candidate and recharge a region.
Optionally, the processing unit is according to the position for currently recharging seat and the confidence level for currently recharging seat Update candidate recharges a region and includes:
If the position for currently recharging seat does not recharge a region in the candidate, and the candidate recharges in a region and returns The number for filling region reaches preset quantity, determines that the candidate recharges the confidence level that region is respectively recharged in a region；
If the confidence level for currently recharging seat be greater than the candidate recharge in a region it is all recharge that region is corresponding can Minimum confidence level in reliability, then delete that minimum confidence level is corresponding to recharge region；
The corresponding defined area in position for currently recharging seat is increased newly as the second candidate region, second candidate regions Domain is contained in the candidate and recharges a region.
Optionally, the processing unit determines that the candidate recharges and respectively recharges the confidence level in region in a region and include:
It calculates the candidate and recharges and respectively recharge the maximum in region in a region and averagely identify number；
It obtains the candidate and recharges the confidence level for respectively recharging seat in a region；
It is recharged based on the candidate and respectively recharges the maximum in region in region and averagely identify number and described the candidate return It fills in a region and respectively recharges the confidence level of seat and determine that the candidate recharges the confidence level for respectively recharging region in a region.
Optionally, the processing unit is according to the position for currently recharging seat and the confidence level for currently recharging seat It updates the candidate and recharges a region and include:
If the position for currently recharging seat does not recharge in a region in the candidate, and the position for currently recharging seat When corresponding defined area and the candidate recharge at least one in a region and recharge region and have lap, judge it is described currently Recharge seat confidence level whether be greater than it is described at least one recharge confidence level minimum in region；
If the confidence level for currently recharging seat be greater than it is described at least one recharge confidence level minimum in region, delete It is described at least one recharge confidence level minimum described in region recharge that seat is corresponding to recharge region；
The corresponding defined area in position for currently recharging seat is increased newly as third candidate region, the third candidate regions Domain is contained in the candidate and recharges a region.
Optionally, the processing unit is according to the position for currently recharging seat and the confidence level for currently recharging seat Update candidate recharges a region and includes:
If the position for currently recharging seat includes that a target recharging in a region of the candidate recharges in region, And the confidence level for currently recharging seat is greater than the confidence level for recharging seat that the target recharges region, and the target is recharged area The confidence level for recharging seat in domain is updated to the confidence level for currently recharging seat.
Second aspect of the embodiment of the present invention provides a kind of clean robot, comprising:
Processing unit；
The processing unit is for executing following steps:
The candidate for obtaining storage recharges a region；
It recharges a region to the candidate to screen, to determine priority area；
When the clean robot, which enters, recharges mode, seat is recharged according to the priority area search.
Optionally, the processing unit recharges a region to the candidate of acquisition and screens, to determine that priority area includes:
The confidence level for respectively recharging seat in a region is recharged according to the candidate, screens priority area, the priority area The confidence level for recharging seat is greater than preset threshold.
Optionally, the processing unit recharges a region to the candidate of acquisition and screens, to determine that priority area also wraps It includes:
The corresponding region in position of seat is recharged when using charging recent apart from current time as priority area.
Optionally, the processing unit recharges a region to the candidate of acquisition and screens, to determine that priority area also wraps It includes:
Obtain the current location of the clean robot；
Calculate the target range that the candidate recharges the current location of a region and the clean robot；
The priority area is determined according to the target range.
Optionally, the processing unit is also used to execute following steps:
Judge whether the clean robot searches in the priority area and recharges seat；
If the clean robot does not search in the priority area and recharges seat, a region is recharged in the candidate In other in addition to the priority area recharge to search in region and recharge seat.
The third aspect of the embodiment of the present invention provides a kind of control method of clean robot, comprising:
During the clean robot executes cleaning task, the corresponding coverage of the clean robot is acquired Interior image；
Based on the image of clean robot acquisition, identification currently recharges seat；
Determine the position for currently recharging seat and the confidence level for currently recharging seat；
The candidate for obtaining storage recharges a region, and the candidate, which recharges, includes at least time recognized in a region Fill a region；
The candidate, which is updated, according to the position for currently recharging seat and the confidence level for currently recharging seat recharges seat Region.
Optionally, described that candidate is updated according to the position for currently recharging seat and the confidence level for currently recharging seat Recharging a region includes:
If the position for currently recharging seat does not recharge a region in the candidate, and the candidate recharges in a region and returns The number for filling region is not up to preset quantity, then increases the corresponding defined area in position for currently recharging seat newly and wait for first Favored area, first candidate region are contained in the candidate and recharge a region.
Optionally, described that candidate is updated according to the position for currently recharging seat and the confidence level for currently recharging seat Recharging a region includes:
If the position for currently recharging seat does not recharge a region in the candidate, and the candidate recharges in a region and returns The number for filling region reaches preset quantity, determines that the candidate recharges the confidence level that region is respectively recharged in a region；
If the confidence level for currently recharging seat be greater than the candidate recharge in a region it is all recharge that region is corresponding can Minimum confidence level in reliability, then delete that minimum confidence level is corresponding to recharge region；
The corresponding defined area in position for currently recharging seat is increased newly as the second candidate region, second candidate regions Domain is contained in the candidate and recharges a region.
Optionally, the determination candidate, which recharges, respectively recharges the confidence level in region and includes: in a region
It calculates the candidate and recharges and respectively recharge the maximum in region in a region and averagely identify number；
It obtains the candidate and recharges the confidence level for respectively recharging seat in a region；
It is recharged based on the candidate and respectively recharges the maximum in region in region and averagely identify number and described the candidate return It fills in a region and respectively recharges the confidence level of seat and determine that the candidate recharges the confidence level for respectively recharging region in a region.
Optionally, described according to the current position for recharging seat and the confidence level update for currently recharging seat Candidate recharges a region
If the position for currently recharging seat does not recharge in a region in the candidate, and the position for currently recharging seat When corresponding defined area and the candidate recharge at least one in a region and recharge region and have lap, judge it is described currently Recharge seat confidence level whether be greater than it is described at least one recharge confidence level minimum in region；
If the confidence level for currently recharging seat be greater than it is described at least one recharge confidence level minimum in region, delete It is described at least one recharge confidence level minimum described in region recharge that seat is corresponding to recharge region；
The corresponding defined area in position for currently recharging seat is increased newly as third candidate region, the third candidate regions Domain is contained in the candidate and recharges a region.
Optionally, described that candidate is updated according to the position for currently recharging seat and the confidence level for currently recharging seat Recharging a region includes:
If the position for currently recharging seat includes that a target recharging in a region of the candidate recharges in region, And the confidence level for currently recharging seat is greater than the confidence level for recharging seat that the target recharges region, and the target is recharged area The confidence level for recharging seat in domain is updated to the confidence level for currently recharging seat.
Fourth aspect of the embodiment of the present invention provides a kind of control method of clean robot, which comprises
The candidate for obtaining storage recharges a region；
It recharges a region to the candidate to screen, to determine priority area；
When the clean robot, which enters, recharges mode, seat is recharged according to the priority area search.
Optionally, the candidate of described pair of acquisition recharges a region and screens, to determine that priority area includes:
The confidence level for respectively recharging seat in a region is recharged according to the candidate, screens priority area, the priority area The confidence level for recharging seat is greater than the first preset threshold.
Optionally, the candidate of described pair of acquisition recharges a region and screens, to determine priority area further include:
The corresponding region in position of seat is recharged when using charging recent apart from current time as priority area.
Optionally, the candidate of described pair of acquisition recharges a region and screens, to determine priority area further include:
Obtain the current location of the clean robot；
It calculates the candidate and recharges the target range for respectively recharging the current location of seat and the clean robot in a region；
The priority area, the present bit of the priority area and the clean robot are determined according to the target range The target range set is less than the second preset threshold.
Optionally, the method also includes:
Judge whether the clean robot searches in the priority area and recharges seat；
If the clean robot does not search in the priority area and recharges seat, a region is recharged in the candidate In other in addition to the priority area recharge to search in region and recharge seat.
Fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, is stored thereon with computer journey Sequence, it is characterised in that: the control of the computer program unit processed clean robot described in above-mentioned various aspects when executing The step of method.
In view of the foregoing it is apparent that clean robot is in the process for executing cleaning task in embodiment provided by the invention In, it can constantly identify and recharge seat, and based on the position for recharging seat recognized and the confidence level for recharging seat recognized It updates candidate and recharges a region, superseded candidate recharges in a region that confidence level is lower to recharge region, makes confidence level higher time Filling a region can remain, and such clean robot can recharge a region according to candidate and be quickly found out when search recharges Seat is recharged, raising recharges efficiency.In addition, seat is recharged by what the mode for then passing through image recognition recognized, relative to existing skill The identification of infrared identification or other modes in art, recognizing for being more easier recharge seat.
Detailed description of the invention
Fig. 1 is a structural schematic diagram according to clean robot provided in an embodiment of the present invention；
Fig. 2A is a top structure schematic diagram according to clean robot provided in an embodiment of the present invention；
Fig. 2 B is a bottom substance schematic diagram according to clean robot provided in an embodiment of the present invention；
Fig. 3 is one embodiment schematic diagram according to the control method of clean robot provided in an embodiment of the present invention；
Fig. 4 is another embodiment schematic diagram according to the control method of clean robot provided in an embodiment of the present invention；
Fig. 5 is a structural schematic diagram according to the control device of clean robot provided in an embodiment of the present invention；
Fig. 6 is another structural schematic diagram according to the control device of clean robot provided in an embodiment of the present invention.
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.
It should be noted that the term used in embodiments of the present invention is only merely for the mesh of description specific embodiment , it is not intended to limit the invention." the one of the embodiment of the present invention and singular used in the attached claims Kind ", " described " and "the" are also intended to including most forms, unless the context clearly indicates other meaning.It is also understood that this Term "and/or" used herein refers to and includes one or more associated any or all possible group for listing project It closes.
Refering to fig. 1, one embodiment of clean robot provided by the invention includes: image acquisition units 110, battery list First 120, driving unit 130, revolver 131, right wheel 132, directive wheel 133, cleaning unit 140, processing unit 150, storage unit 160, detection of obstacles unit 170.
Image acquisition units 110 are used to capture the image in clean robot working environment.Image acquisition units 110 are wrapped It includes, one or more camera in two-dimentional camera, three-dimensional camera.For example, a two-dimentional camera can be placed in The upper surface of clean robot, and capture the image above clean robot, that is, the image of the ceiling to working space.
For another example a three-dimensional camera is placed in the front of clean robot, and capture what clean robot was checked 3-D image, as shown in Figure 2 A.3-D image includes about the distance from object to be captured to the two dimensional image of object to be captured Information.It can be using stereoscopic camera module or depth transducer module as three-dimensional camera.
Image acquisition units 110 may include depth transducer 111, RGB image sensor 112 or structure light image sensing One or more of device 113.
Depth transducer includes: two-dimentional camera, captures the image of object to be captured；And infrared sensor, to Object to be captured irradiates infrared ray, and detects the size from the infrared ray of object reflection to be captured, to measure two dimensional image In object to be captured distance.And depth transducer exports two-dimentional camera captured image and infrared sensor obtains Range information.
RGB sensor 112 can shoot RGB image, and RGB image is also referred to as color image.Such as utilize RGB sensor pair Charging pile is shot to obtain the RGB image including charging pile.
Structure light image sensor 113 includes infrared ray transceiving mould group.For example, infrared ray transceiving mould group can measure to obtain Distance of the clean robot to charging pile.The 3-D image of charging pile is generated according to the distance of clean robot to charging pile.
Wherein stereo camera shooting head module includes multiple two-dimentional cameras, and uses multiple two-dimentional camera captured images Between difference determine the range information about object to be captured.Moreover, the output of stereo camera shooting head module is about multiple two dimensions The information of one of camera captured image and the distance between object to be captured.
Image acquisition units 110 may further include graphics processing unit, handle captured image as needed.Such as Change the size or resolution ratio of camera captured image.
Power supply unit 120 includes the electrode of rechargeable battery, the charging circuit and rechargeable battery that connect respectively with rechargeable battery. The quantity of rechargeable battery is one or more, electric energy needed for rechargeable battery can provide operation for clean robot.Electrode can Fuselage side or the fuselage bottom of clean robot is arranged in.Battery unit 120 can also include battery parameter detection group Part, battery parameter detection components are for detecting battery parameter, for example, voltage, electric current, battery temperature etc..In clean robot Operating mode is switched to when recharging mode, and clean robot begins look for charging pile, and is filled using charging pile for clean robot Electricity.
Driving unit 130 includes the motor for applying driving force.Driving unit 130 connects cleaning unit 140, revolver 131, right wheel 132 and directive wheel 133.Under the control of processing unit 150, driving unit 130 can drive cleaning unit 140, Revolver 131, right wheel 132 and directive wheel 133.Alternatively, driving unit 130 is including cleaning driving subelement, revolver drives subelement, Right wheel drives subelement and guiding wheel drive unit, cleans driving subelement and connect with cleaning unit 140, revolver drives subelement It is connect with revolver 131, right wheel driving subelement is connect with right wheel 132, and guiding wheel drive unit is connect with directive wheel 133.
Revolver 131 and right wheel 132 (wherein revolver, right wheel are referred to as travel wheel, driving wheel) are respectively with symmetrical side Formula is centrally disposed in the opposite side of the bottom of the machine body of clean robot.Execute during executing cleaning includes transporting forward Motor performance that is dynamic, moving and rotate backward.Directive wheel 133 may be provided at machine body front or rear portion.
As shown in Figure 2 B, cleaning unit 140 includes: main brush 141 and one or more side brush 142.Main brush is mounted on clear The organism bottom of clean robot.Optionally, main brush 141 is that the cydariform rotated with roller type relative to contact surface turns brush.Side brush 142 It is mounted on the left and right edges part of the front end of the bottom surface of clean robot.That is, side brush 142 is installed substantially at multiple travel wheels Front.The purging zone that side brush 142 cannot be cleaned for cleaning main brush 141.Moreover, side brush 142 can not only rotate in place, and And can be installed to be to the external prominent of clean robot, so that the region of clean robot cleaning can be expanded.
Detection of obstacles unit 170 is for detecting the side environment of clean robot, to find barrier, wall The environmental objects such as face, step and the charging pile for charging to clean robot.Detection of obstacles unit 170 be also used to The various positions information and movement state information of control module offer clean robot.Detection of obstacles unit 170 may include hanging Precipice sensor, ultrasonic sensor, infrared sensor, magnetometer, three axis accelerometer, gyroscope, odometer, LDS, ultrasonic wave pass Sensor, camera, Hall sensor etc..The present embodiment is not construed as limiting the number of detection of obstacles unit 170 and position.
Processing unit 150 is arranged on the intracorporal circuit board of machine of clean robot, can be according to detection of obstacles unit The information of the ambient enviroment object of 170 feedbacks and preset location algorithm, draw the instant map of clean robot local environment. Processing unit 150 can also according to steep cliff sensor, ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, The working condition that the range information and velocity information comprehensive descision clean robot of the devices such as odometer feedback are presently in.Processing Unit 150 can be by one or more application specific integrated circuit (ASIC), digital signal processing unit (DSP), digital signal It is processing equipment (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), controller, microcontroller, micro- Processing unit or other electronic components are realized, for executing the control method of the clean robot in the embodiment of the present disclosure.For example, Image acquisition units 110 can be used for executing following step 301, and processing unit 150 can be used for executing following step 302- step 305；Processing unit 150 can be used for executing following step 401- step 403 etc..In order to illustrate the succinct of book, do not repeat here. Introduction of the content of each step referring to following methods.
For storing instruction and data, the data include but is not limited to storage unit 160: map datum, control cleaning The ephemeral data generated when robot manipulation, such as position data, the speed data of clean robot.Processing unit 150 can To read the corresponding function of the instruction execution stored in storage unit 160.Storage unit 160 may include random access memory list First (Random Access Memory, RAM) and non-volatile memory cells (Non-Volatile Memory, NVM).It is non-easy The property lost storage unit may include hard disk drive (Hard Disk Drive, HDD), solid state hard disk (Solid State Drives, SSD), silicon disk driver (Silicon disk drive, SDD), read-only memory unit (Read-Only Memory, ROM), CD-ROM (Compact Disc Read-Only Memory, CD-ROM), tape, floppy disk, light data deposits Store up equipment etc..
It is understood that in one or more embodiment, clean robot can also include input-output unit, Location measurement unit, wireless communication unit, display unit etc..
Fig. 2A and 2B is respectively schematic diagram of the clean robot 10 in two different perspectivess.As shown in Figure 2 A, Image Acquisition The side of clean robot 10 is arranged in unit 110, for acquiring front ambient image.As shown in Figure 2 B, clean robot 10 Bottom be provided with revolver 131, right wheel 132, directive wheel 133, cleaning unit 140, battery unit 120.Cleaning unit 140 includes Main brush 141 and side brush 142.The rechargeable battery in battery unit 120 is encapsulated in the inside of clean robot 10 with capping, is prevented Only it falls.One in the electrode 121 and electrode 122 of rechargeable battery is anode, another is cathode.
It should be noted that the connection relationship between each unit or component in clean robot be not limited to it is shown in FIG. 1 Connection relationship.For example, can be connected by bus between processing unit 150 and other unit or assemblies.
It should be noted that clean robot can also include other unit or assemblies, alternatively, only including that above-mentioned part is single Member or component, the present embodiment are not construed as limiting this, are only illustrated by taking above-mentioned clean robot as an example.
It should be noted that the clean robot can be with clean robot, or floor-mopping robot, or sweep Floor-washing robot, specifically without limitation.
Referring to Fig. 3, Fig. 3 is one embodiment signal of the control method of clean robot provided in an embodiment of the present invention Figure, comprising:
301, during clean robot executes cleaning task, the image in coverage is acquired.
In the present embodiment, in clean robot during executing cleaning task, image acquisition units acquisition shooting model Enclose interior image.The image how acquired in corresponding coverage is not specifically limited herein, such as by being set to cleaner Image acquisition units on device people acquire the image in corresponding coverage.Image acquisition units, can be right in each collection point There should be a coverage.For example, being mounted on the image acquisition units above clean robot, coverage is each collection point The preset range of upper space etc..
302, based on the image of acquisition, identification currently recharges seat.
In the present embodiment, clean robot can be handled the image of acquisition after the image acquired, with Seat currently is recharged in identification image, specifically, can identify by image of the image-recognizing method to acquisition, with identification Currently recharge seat.Certainly it also can also currently be recharged by being identified otherwise to the image of acquisition as long as can recognize Seat, specifically without limitation to image-recognizing method.
303, it determines the position for currently recharging seat and currently recharges the confidence level of seat.
In the present embodiment, clean robot in the image for recognizing acquisition currently recharge seat after, machine can be passed through The method of device study or the mode of deep learning identify the position for currently recharging seat and currently recharge the confidence level of seat.
It should be noted that clean robot includes the system of a set of self-positioning and self-built map in real time (simultaneous localization and mapping, SLAM) and identification module (including image procossing, engineering Practise, deep learning method) it can identify the location information for recharging seat, and recharge the confidence level of seat.
304, the candidate for obtaining storage recharges a region.
In the present embodiment, the candidate of the available storage of clean robot recharges a region, which recharges in a region Including at least one recognized recharge a region, that is to say, that clean robot can safeguard that a candidate recharges region, The candidate recharges the region that recharges in region and may include and execute charging operations to the clean robot and recharge seat.
In one embodiment, during clean robot executes cleaning task, a region is identified in first time It is that candidate recharges a region by the cradle zone marker when may be cradle region.In subsequent cleaning process, continue to update The candidate of storage recharges a region.
It currently recharges the position of seat it should be noted that can be determined by step 301 to step 303 and currently recharges The confidence level of seat, recharges a region by the candidate of the available storage of step 304, however, between the two steps not The limitation of successive execution sequence, can first carry out step 301 can also first carry out step 304 to step 303, or hold simultaneously Row, specifically without limitation.
305, the confidence level that seat is recharged according to the position for currently recharging seat and currently updates candidate and recharges a region.
It, can after clean robot recharges a region in the position and candidate for currently being recharged seat in the present embodiment To judge whether the position for currently recharging seat recharges inside a region in candidate, meanwhile, judge that candidate recharges and is recharged in a region Whether the number in seat region reaches preset quantity, if the position for currently recharging seat does not recharge a region in candidate, and candidate recharges The number that a region is recharged in seat region is not up to preset quantity, then increases the corresponding defined area in the position for currently recharging seat newly One candidate recharges a region, and newly-increased candidate recharges a region and is denoted as the first candidate region, which is contained in Candidate recharges a region.
In the above-mentioned technical solutions, the maximum for recharging region for including in a region is recharged by presetting the candidate Value, i.e. preset quantity can allow clean robot to be recharged when a range searching recharges according to candidate and reduce traversal time, simultaneously Memory space can also be reduced.
In one embodiment, candidate can not also be limited and recharge the preset quantity for recharging region in a region, when unlimited When determining candidate and recharging the preset quantity for recharging region in a region, it can be improved to screen the candidate and recharge in a region and respectively recharge area The confidence threshold value for recharging seat in domain, can give up to fall in this way the confidence level more recognized it is low recharge seat, reduce to generate recharging The quantity in region, at the same also ensure it is candidate recharge respectively recharged in a region seat level of confidence it is higher.
If the position for currently recharging seat does not recharge a region in candidate, and candidate recharge recharges a of region in a region Number reaches preset quantity, then can determine that the candidate recharges the confidence level that region is respectively recharged in region, and judgement currently recharges later Whether the confidence level of seat, which is greater than candidate, recharges confidence level minimum in a region, if the confidence level for currently recharging seat is greater than candidate return Confidence level minimum in a region is filled, then deletes the candidate and recharges that confidence level minimum in a region is corresponding to recharge region, and The corresponding defined area in the position for currently recharging seat is increased newly and recharges a region for a candidate, newly-increased candidate recharges a region It is denoted as the second candidate region, which is contained in candidate and recharges a region.It is recharged in a region in candidate and recharges area When the candidate that the number in domain reaches preset quantity recharges region, the low candidate region of confidence level is deleted, to make the time of storage Choosing recharges region, and to save confidence measure higher, makes clean robot when search recharges, a region can be recharged according to candidate It is quickly found out and recharges seat.
It is understood that if the confidence level for currently recharging seat be less than or equal to candidate recharge it is minimum credible in a region Degree, then that abandons recognizing currently recharges seat and sets.
In one embodiment, this currently recharges the corresponding defined area of seat and can be to recharge the position of seat currently as original Point delimit to be greater than the maximum sized length for currently recharging seat as radius and recharges region for one, wherein this is current time The corresponding defined area of seat is filled, is not limited to arc-shaped, seat can be recharged according to the position for currently recharging seat recognized and currently Size set this and currently recharge the corresponding defined area of seat, such as rectangular area etc..
In one embodiment, clean robot determines that candidate recharges and respectively recharges the confidence level in region in region and include:
It calculates the candidate and recharges and respectively recharge the maximum in region in a region and averagely identify number；
It obtains the candidate and recharges the confidence level for respectively recharging seat in a region；
It is recharged based on the candidate and respectively recharges the maximum in region in region and averagely identify number and described the candidate return It fills in a region and respectively recharges the confidence level of seat and determine that the candidate recharges the confidence level for respectively recharging region in a region.
In the present embodiment, clean robot can calculate first it is candidate recharge respectively recharged in seat set region maximum it is average Identify number, specific calculate respectively recharges region out of current time t forward the Δ t period, i.e., [t- Δ t, t] is in the period Averagely recognize the number for recharging seatI is that candidate i-th recharged in a region recharges region, then for i-th time Region is filled, Indicate i-th of maximum for recharging region Averagely identify number, by respectively recharge the corresponding confidence level for recharging seat in region and respectively recharge region maximum averagely identify number into Row weighted sum is respectively recharged the confidence level in region, it may be assumed that
When this is recharged, the corresponding confidence level for recharging seat in region is higher, which averagely identifies that number is got over Greatly, this recharge region confidence level it is higher.When this is recharged, the corresponding confidence level for recharging seat in region is lower, this recharges region most Averagely identification number is smaller greatly, and the confidence level for recharging region is lower.
If the confidence level for currently recharging seat that clean robot currently recognizes recharges minimum in a region higher than candidate Confidence level, deletes that the minimum confidence level is corresponding to recharge region, and will currently recharge the corresponding defined area of seat and generate second Candidate region, recharges that confidence level minimum in a region is corresponding to recharge region with replacement candidate, and inherits recharging of being replaced The maximum in region averagely identifies number；It recharges in a region conversely, retaining candidate and respectively recharges region, give up that currently to recharge seat right The defined area answered.Pass through the maximum for comprehensively considering the confidence level for recharging seat and recharging region as a result, and averagely identify number, avoids The higher region that recharges of confidence level is replaced.Simultaneously can also not be highest to avoid level of confidence, but in historical process certain The region that recharges repeatedly recognized in period is replaced, and region may be recharged comprising recharge seat by retaining, to improve Clean robot recharges efficiency.
In one embodiment, if the position for currently recharging seat does not recharge in a region in candidate, and seat is currently recharged When the corresponding defined area in position and candidate recharge at least one in a region and recharge region and have lap, clean robot can Confidence level minimum in region is recharged to judge whether the confidence level for currently recharging seat is greater than at least one, if currently recharging seat Confidence level is greater than at least one and recharges confidence level minimum in region, then deletes at least one and recharge confidence minimum in a region Spend it is corresponding recharge that seat is corresponding to recharge region, and the newly-increased candidate in the corresponding defined area in position for currently recharging seat is returned A region is filled, newly-increased candidate recharges a region and is denoted as third candidate region, which is contained in candidate and recharges seat Region retains at least if the confidence level for currently recharging seat, which is less than or equal at least one, recharges confidence level minimum in region One recharges in region and respectively recharges region, gives up and currently recharges the corresponding defined area of seat.
In one embodiment, if the position for currently recharging seat does not recharge in a region in candidate, and seat is currently recharged The corresponding defined area in position and candidate recharge a region none when recharging region and having lap, continue that judgement is candidate to return It fills and recharges the number in region in a region and whether reach preset quantity, with above-mentioned when candidate recharges an area the case where subsequent execution The step of executing when the number in region reaches preset quantity is recharged in domain, and a region is recharged in a region when candidate recharge Number is each, and the step of executing when reaching preset quantity, is identical, which repeats no more.
It is understood that if currently recharging the defined area of seat and candidate recharges in a region one (or multiple) and recharges Region intersection, then calculate the area of intersection, when the area of the intersection is more than setting value, level of confidence is higher Recharge region reservation, and delete that confidence level is lower to recharge region.
In one embodiment, if the position for currently recharging seat includes that the candidate target recharged in a region recharges Region (the corresponding defined area in position for currently recharging seat is included in a candidate and recharges in a region), and currently recharge seat Confidence level be greater than target and recharge the confidence level for recharging seat in region, the confidence level for recharging seat that target recharges region is updated to Currently recharge the confidence level of seat.That is, clean robot recharges the confidence of seat in the position for currently being recharged seat, currently Degree and candidate recharge after a region, it can be determined that whether the corresponding defined area in position for currently recharging seat is returned in candidate It fills in region and is registered as target and recharges region.It is stepped on if the corresponding defined area in the position for currently recharging seat recharges in region in candidate It is denoted as target and recharges region, then whether the confidence level that judgement currently recharges seat is greater than the confidence for recharging seat that target recharges region Target is recharged returning for region if the confidence level for currently recharging seat is greater than the confidence level for recharging seat that target recharges region by degree The confidence level for filling seat is updated to currently recharge the confidence level of seat.If the position for currently recharging seat does not recharge in a region in candidate Target recharges region, alternatively, if the confidence level for currently recharging seat, which is less than or equal to target, recharges the confidence level for recharging seat in region, Then give up and currently recharges the corresponding defined area of seat.
In view of the foregoing it is apparent that clean robot is in the process for executing cleaning task in embodiment provided by the invention In, it can constantly identify and recharge seat, and based on the position for recharging seat recognized and the confidence level for recharging seat recognized It updates candidate and recharges a region, superseded candidate recharges in a region that confidence level is lower to recharge region, makes confidence level higher time Filling a region can remain, and such clean robot can recharge a region according to candidate and be quickly found out when search recharges Seat is recharged, raising recharges efficiency.In addition, seat is recharged by what the mode for then passing through image recognition recognized, relative to existing skill The identification of infrared identification or other modes in art, recognizing for being more easier recharge seat.
Referring to Fig. 4, Fig. 4 is another embodiment signal of the control method of clean robot provided in an embodiment of the present invention Figure, comprising:
401, the candidate for obtaining storage recharges a region.
In the present embodiment, clean robot can maintain a candidate to recharge a region, which recharges in a region each time Filling the corresponding seat that recharges in region can execute charging operations to the clean robot.
402, it recharges a region to candidate to screen, to determine priority area.
In the present embodiment, clean robot can recharge a region to candidate and screen, to determine priority area.It can be with Include any of the following mode:
Mode one respectively recharges the confidence level of seat specifically, can recharge according to candidate in region, screen priority area, The confidence level for recharging seat of the favored area is greater than the first preset threshold.That is, after obtaining candidate and recharging a region, It can determine that the candidate recharges the confidence level that seat is respectively recharged in a region, later, the first preset threshold of setting (such as 90%, when Can also so be configured according to the actual situation, specifically without limitation), screen out candidate recharge in a region confidence level be less than it is pre- If threshold value recharges seat, priority area is obtained.
It should be noted that candidate after getting candidate and recharging a region, can be recharged an area by clean robot The confidence level that seat is respectively recharged in domain is ranked up, and chooses that confidence level is highest recharges the corresponding defined area of seat or confidence level highest Two recharge the corresponding defined area of seat as priority area, also can also be other numbers, such as four certainly, specifically Without limitation.In this way according to the height of level of confidence, the high region that recharges of confidence level that each candidate recharges a region is arranged In front, clean robot, which is easier to find, recharges seat.
Mode two, in one embodiment, recharges a region to the candidate of acquisition and screens, to determine priority area also Include:
The corresponding defined area in position of seat is recharged when using charging recent apart from current time as priority area.
In the present embodiment, since clean robot will record the position for recharging seat charged every time in each charging, because This clean robot recharged when can be using charging recent apart from current time the corresponding defined area in position of seat as Priority area.In this way in the case where recharging seat not by movement, clean robot can directly go to search the last charging When the position for recharging seat, to reduce search time.
Mode three, in one embodiment, recharges a region to the candidate of acquisition and screens, to determine priority area also Include:
Obtain the current location of clean robot；
It calculates candidate and recharges the target range for respectively recharging the current location of seat and clean robot in a region；
Priority area is determined according to target range, and the target range of the current location of priority area and clean robot is less than Second preset threshold.
In the present embodiment, clean robot can also determine clean robot position (such as can by clean machine The SLAM system of people determines the current location of clean robot), later, candidate can be calculated recharge in a region and respectively recharge seat (it is each to determine to again may be by the SLAM system of clean robot itself with the target range of the current location of clean robot The position of seat is recharged, and then target range can be calculated), priority area is finally determined according to target range, i.e., it will be candidate The region that recharges in a region with the target range of the current location of clean robot less than the second preset threshold is recharged to be determined as Priority area.According to clean robot and candidate recharge at a distance from a region it is far and near be ranked up to respectively recharging region, can be with It allows clean robot first to go to search closer candidate and recharge a region, to reduce search time, improves charge efficiency.
Mode four, in one embodiment, since clean robot is constantly to identify during executing cleaning task Seat is recharged, thus may determine that clean robot is in the position for recharging seat recognized for the last time into before recharging mode It sets, judges the clean robot in corresponding stroke of the position for recharging seat recognized for the last time into before recharging mode later Region is determined and whether is included in candidate to recharge a region, if so, last time is known before the clean robot is entered the mode that recharges The corresponding defined area of seat that recharges being clipped to is determined as priority area, if it is not, that then gives up that this recognizes for the last time recharges seat The corresponding defined area in position.
In other embodiments, aforesaid way can also be combined to implementation.For example, can be by mode one and mode two It combines to determine priority area or mode one with mode three and combine determining priority area or mode one, mode two, mode Three, which combine determining priority area or mode two, combines determining priority area with mode three.
It should be noted that clean robot can also comprehensively consider target range and candidate recharges in a region each time The confidence level of seat is filled to determine priority area, that is to say, that candidate is recharged to the confidence level that seat is respectively recharged in region and candidate time It fills in a region and respectively recharges the target range of seat and current location, weight score is calculated with certain proportion, is determined according to score value Priority area, such as candidate can be calculated by following formula and recharge the weight score for respectively recharging seat in a region:
Score=∑ αi*pi-∑bi*di；
Wherein, piI-th of confidence level for recharging seat, d are recharged in a region for candidateiTo recharge the position of seat for i-th and working as Target range between front position, αiThe weight of the confidence level of seat, b are recharged for i-thiTo recharge the position of seat and current for i-th The weight of target range between position, namely when recharge target between the position of seat and the current location of clean robot away from From smaller, the confidence level for recharging seat is higher, then it is higher to recharge the corresponding weight score for recharging region of seat for this, when the position for recharging seat The target range set between the current location of clean robot is bigger, and the confidence level for recharging seat is lower, then this recharges seat Weight score is lower, selects the highest corresponding region that recharges of seat that recharges of weight score as priority area later.
It should be noted that above-mentioned recharge region as priority area, certainly for the highest seat correspondence that recharges of weight score Also it is also an option that weight score recharges the corresponding region that recharges of seat as priority area more than preset value, does not limit specifically. In the above-mentioned technical solutions, it can be higher by level of confidence and be recharged before a region comes from the closer candidate of clean robot Face, such clean robot, which is quickly found out, to be recharged the probability of seat and is increased by, and recharges efficiency to improve.
In one embodiment, it can also determine that candidate recharges the confidence level that seat is respectively recharged in a region, later, if candidate The recharge seat and the confidence level difference for recharging seat of the second high confidence level for recharging highest confidence level in a region are the first confidence level Difference, the recharge seat and the confidence level difference for recharging seat of third high confidence level of the second high confidence level are the second confidence level difference, If the first confidence level difference is much larger than the second confidence level difference, the corresponding region that recharges of seat that recharges of highest confidence level is determined For priority area.
Above-mentioned steps 401, step 402 can execute in cleaning process, can also execute in the case where entering the mode that recharges.On When stating step 401, step 402 can execute in cleaning process, it can more improve and recharge efficiency.
403, when clean robot, which enters, recharges mode, seat is recharged according to priority area search.
In the present embodiment, clean robot after determining priority area, can real-time judge clean robot whether enter Mode is recharged, if clean robot, which enters, recharges mode, seat is recharged according to priority area search, to recharge based on what is searched Seat executes charging operations to clean robot and continues to execute cleaning task if clean robot does not enter the mode of recharging.
In one embodiment, clean robot judges whether clean robot enters and recharges mode and include:
Judge whether clean robot completes cleaning task；
If so, determining that clean robot enters recharges mode；
If not, it is determined that clean robot does not enter the mode of recharging；
Or,
Judge whether the electricity of clean robot is less than third predetermined threshold value；
If so, determining that clean robot enters recharges mode；
If not, it is determined that clean robot does not enter the mode of recharging.
That is, can judge whether clean robot enters in terms of two recharges mode, first is cleaning task Whether completion is executed, and second is whether the electricity of clean robot is less than third predetermined threshold value (such as 10%, naturally it is also possible to be Other numerical value, do not limit specifically), when the cleaning task completion of clean robot or the electricity of clean robot are default less than third Threshold value can then determine that the clean robot enters and recharge mode.
In one embodiment, after clean robot recharges seat according to priority area search, clean robot may be used also Seat is recharged to judge whether clean robot searches in priority area；
If clean robot does not search in priority area and recharges seat, recharge in a region in candidate except priority area Except other recharge in region search recharge seat.
In the present embodiment, clean robot may determine that whether clean robot searches in priority area and recharge seat, Specifically, respectively recharging the echo signal of seat in available priority area；By echo signal guidance clean robot and preferably In region recharge seat docking, wherein the echo signal include in infrared signal, picture signal and ranging distance signal extremely It is one few, if docking successfully, it is determined that clean robot searches in priority area and recharges seat, if undocked success, really Determine clean robot and do not search in priority area to recharge seat.Certainly cleaner machine can also be also judged by other means Whether people searches in priority area recharges seat, such as judges whether cleaner robot charges success, specifically without limitation.
If clean robot does not search in priority area and recharges seat, candidate recharge in region except priority area it Outer other, which recharge to search in region, recharges seat.
It should be noted that other for recharging in region in addition to priority area in candidate recharge to search in region and recharge seat Mode recharge that the mode of seat is similar, and above-mentioned to be explained, details are not described herein again to searching in priority area.
In conclusion in embodiment provided by the invention, can be obtained obtained in the cleaning process in clean robot Candidate recharges a region, recharges a region according to candidate and screens priority area, recharges mode in this way, entering in clean robot When, it can quickly be searched based on priority area and recharge seat, to execute charging operations to clean robot.
The control method of clean robot provided in an embodiment of the present invention is illustrated above, below with reference to Fig. 5 and Fig. 6 is illustrated the control device of clean robot provided in an embodiment of the present invention.Modules are specifically to realize below The control method of clean robot as described above, modules are stored in storage unit 160, and by one or more Processing unit 150 is performed to complete the present invention, and the so-called module of the present invention is a series of meters for referring to complete specific function Calculation machine program instruction section, for describing execution of the control program of clean robot in the control device of clean robot Journey.In order to illustrate the succinct of book, which is not described herein again.
Referring to Fig. 5, Fig. 5 is the journey of one embodiment of the control device of clean robot provided in an embodiment of the present invention Sequence module diagram, the program module include one or more module.The control device 500 of the clean robot includes:
Image capture module 501, for acquiring coverage during the clean robot executes cleaning task Interior image；
Identification module 502, the image for being acquired based on the clean robot, identification currently recharge seat；
Determining module 503, for determining the position for currently recharging seat and the confidence level for currently recharging seat；
Module 504 is obtained, the candidate for obtaining storage recharges a region, and the candidate recharges to be included at least in a region One recognized recharge a region；
Update module 505, for according to the position for currently recharging seat and described currently recharging the confidence level of seat more The new candidate recharges a region.
Optionally, the update module 505 is specifically used for:
If the position for currently recharging seat does not recharge a region in the candidate, and the candidate recharges in a region and returns The number for filling region is not up to preset quantity, then increases the corresponding defined area in position for currently recharging seat newly and wait for first Favored area, first candidate region are contained in the candidate and recharge a region.
Optionally, the update module 505 is specifically used for:
If the position for currently recharging seat does not recharge a region in the candidate, and the candidate recharges in a region and returns The number for filling region reaches preset quantity, determines that the candidate recharges the confidence level that region is respectively recharged in a region；
If the confidence level for currently recharging seat be greater than the candidate recharge in a region it is all recharge that region is corresponding can Minimum confidence level in reliability, then delete that minimum confidence level is corresponding to recharge region；
The corresponding defined area in position for currently recharging seat is increased newly as the second candidate region, second candidate regions Domain is contained in the candidate and recharges a region.
Optionally, the update module 505 is specifically used for:
It calculates the candidate and recharges and respectively recharge the maximum in region in a region and averagely identify number；
It obtains the candidate and recharges the confidence level for respectively recharging seat in a region；
It is recharged based on the candidate and respectively recharges the maximum in region in region and averagely identify number and described the candidate return It fills in a region and respectively recharges the confidence level of seat and determine that the candidate recharges the confidence level for respectively recharging region in a region.
Optionally, the update module 505 is specifically used for:
If the position for currently recharging seat does not recharge in a region in the candidate, and the position for currently recharging seat When corresponding defined area and the candidate recharge at least one in a region and recharge region and have lap, judge it is described currently Recharge seat confidence level whether be greater than it is described at least one recharge confidence level minimum in region；
If the confidence level for currently recharging seat be greater than it is described at least one recharge confidence level minimum in region, delete It is described at least one recharge confidence level minimum described in region recharge that seat is corresponding to recharge region；
The corresponding defined area in position for currently recharging seat is increased newly as third candidate region, the third candidate regions Domain is contained in the candidate and recharges a region.
Optionally, the update module 505 is specifically used for:
If the position for currently recharging seat includes that a target recharging in a region of the candidate recharges in region, And the confidence level for currently recharging seat is greater than the confidence level for recharging seat that the target recharges region, and the target is recharged area The confidence level for recharging seat in domain is updated to the confidence level for currently recharging seat.
Retouching in the interactive mode such as aforementioned embodiment illustrated in fig. 3 between each module of the clean robot in the present embodiment It states, specific details are not described herein again.
In view of the foregoing it is apparent that clean robot is in the process for executing cleaning task in embodiment provided by the invention In, it can constantly identify and recharge seat, and based on the position for recharging seat recognized and the confidence level for recharging seat recognized It updates candidate and recharges a region, superseded candidate recharges in a region that confidence level is lower to recharge region, makes confidence level higher time Filling a region can remain, and such clean robot can recharge a region according to candidate and be quickly found out when search recharges Seat is recharged, raising recharges efficiency.In addition, seat is recharged by what the mode for then passing through image recognition recognized, relative to existing skill The identification of infrared identification or other modes in art, recognizing for being more easier recharge seat.
Referring to Fig. 6, Fig. 6 is another embodiment schematic diagram of clean robot provided in an embodiment of the present invention, the cleaning The control device 600 of robot includes:
Data acquisition module 601, the candidate for obtaining storage recharge a region；
Screening module 602 is screened for recharging a region to the candidate, to determine priority area；
Search module 603, for being returned according to the priority area search when the clean robot enters and recharges mode Fill seat.
Optionally, the screening module 602 is specifically used for:
The confidence level for respectively recharging seat in a region is recharged according to the candidate, screens priority area, the priority area The confidence level for recharging seat is greater than preset threshold.
Optionally, the screening module 602 is specifically used for:
The corresponding region in position of seat is recharged when using charging recent apart from current time as priority area.
Optionally, the screening module 602 is specifically used for:
Obtain the current location of the clean robot；
Calculate the target range that the candidate recharges the current location of a region and the clean robot；
The priority area is determined according to the target range.
Optionally, the search module 603 is specifically used for:
Judge whether the clean robot searches in the priority area and recharges seat；
If the clean robot does not search in the priority area and recharges seat, a region is recharged in the candidate In other in addition to the priority area recharge to search in region and recharge seat.
In movement performed by the module of clean robot in the present embodiment or step such as aforementioned embodiment illustrated in fig. 4 Description, is not repeating specifically herein.
In conclusion can be identified in advance before clean robot enters and recharges mode in embodiment provided by the invention And priority area is screened, in this way, can quickly be searched and be recharged based on priority area when clean robot enters and recharges mode Seat, to execute charging operations to clean robot.
The embodiment of the invention also provides a kind of storage mediums, are stored thereon with program, and program unit processed executes The control method of clean robot described in Shi Shixian.
The embodiment of the invention also provides a kind of processing unit, the processing unit is for running program, wherein the journey The control method of the clean robot is executed when sort run.
The embodiment of the invention also provides a kind of equipment, equipment includes processing unit, storage unit and is stored in storage singly In member and the program that can run on a processing unit, realizing when processing unit executes program may be implemented the corresponding reality of Fig. 3 or Fig. 4 Apply any embodiment in example.
Equipment herein can be server, PC, PAD, mobile phone etc..
The present invention also provides a kind of computer program products, when executing on data processing equipment, execute computer Any embodiment in the corresponding embodiment of Fig. 3 or Fig. 4 may be implemented when program product.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit It closes or communicates to connect, can be electrical property, mechanical 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 In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.
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 an equipment (can To be personal computer, server or the network equipment, robot, single-chip microcontroller, chip etc.) etc.) execute each implementation of the present invention The all or part of the steps of example the method.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory unit, with Machine accesses the various media that can store program code such as storage unit, magnetic or disk.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these It modifies or replaces, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.

Claims (23)

1. a kind of clean robot characterized by comprising
Image acquisition units and processing unit；
Described image acquisition unit, for acquiring in coverage during the clean robot executes cleaning task Image；
The processing unit is for executing following steps:
Based on the image of clean robot acquisition, identification currently recharges seat；
Determine the position for currently recharging seat and the confidence level for currently recharging seat；
The candidate for obtaining storage recharges a region, the candidate recharge included at least in a region one recognized recharge seat Region；
The candidate, which is updated, according to the position for currently recharging seat and the confidence level for currently recharging seat recharges a region.
2. clean robot according to claim 1, which is characterized in that the processing unit currently recharges seat according to described Position and the confidence level for currently recharging seat update candidate and recharge a region and include:
If the position for currently recharging seat does not recharge a region in the candidate, and the candidate recharges in a region and recharges area The number in domain is not up to preset quantity, then increases the corresponding defined area in position for currently recharging seat for the first candidate regions newly Domain, first candidate region are contained in the candidate and recharge a region.
3. clean robot according to claim 1 or 2, which is characterized in that the processing unit is according to described current time The position and the confidence level update candidate for currently recharging seat for filling seat recharge a region and include:
If the position for currently recharging seat does not recharge a region in the candidate, and the candidate recharges in a region and recharges area The number in domain reaches preset quantity, determines that the candidate recharges the confidence level that region is respectively recharged in a region；
It recharges if the confidence level for currently recharging seat is greater than the candidate and all in a region recharges the corresponding confidence level in region In minimum confidence level, delete that minimum confidence level is corresponding to recharge region；
The corresponding defined area in position for currently recharging seat is increased newly as the second candidate region, the second candidate region packet A region is recharged contained in the candidate.
4. clean robot according to claim 3, which is characterized in that the processing unit determines that the candidate recharges seat The confidence level that region is respectively recharged in region includes:
It calculates the candidate and recharges and respectively recharge the maximum in region in a region and averagely identify number；
It obtains the candidate and recharges the confidence level for respectively recharging seat in a region；
It is recharged based on the candidate and respectively recharges the maximum in region in region and averagely identify that number and the candidate recharge seat The confidence level that seat is respectively recharged in region determines that the candidate recharges the confidence level that region is respectively recharged in a region.
5. clean robot according to claim 1, which is characterized in that the processing unit currently recharges seat according to described Position and the confidence level for currently recharging seat update the candidate and recharge a region and include:
If the position for currently recharging seat does not recharge in a region in the candidate, and the position for currently recharging seat is corresponding Defined area and candidate when recharging at least one in a region and recharging region and have lap, judge described currently to recharge The confidence level of seat whether be greater than it is described at least one recharge confidence level minimum in region；
If the confidence level for currently recharging seat be greater than it is described at least one recharge confidence level minimum in region, delete it is described extremely Few one recharge confidence level minimum described in region recharge that seat is corresponding to recharge region；
The corresponding defined area in position for currently recharging seat is increased newly as third candidate region, the third candidate region packet A region is recharged contained in the candidate.
6. clean robot according to claim 1, which is characterized in that the processing unit currently recharges seat according to described Position and the confidence level for currently recharging seat update candidate and recharge a region and include:
If the position for currently recharging seat includes that a target recharging in a region of the candidate recharges in region, and institute It states the current confidence level for recharging seat and is greater than the confidence level for recharging seat that the target recharges region, the target is recharged into region The confidence level for recharging seat is updated to the confidence level for currently recharging seat.
7. a kind of clean robot characterized by comprising
Processing unit；
The processing unit is for executing following steps:
The candidate for obtaining storage recharges a region；
It recharges a region to the candidate to screen, to determine priority area；
When the clean robot, which enters, recharges mode, seat is recharged according to the priority area search.
8. clean robot according to claim 7, which is characterized in that the processing unit recharges seat to the candidate of acquisition Region is screened, to determine that priority area includes:
The confidence level for respectively recharging seat in a region is recharged according to the candidate, screens priority area, and the priority area recharges The confidence level of seat is greater than preset threshold.
9. clean robot according to claim 7, which is characterized in that the processing unit recharges seat to the candidate of acquisition Region is screened, to determine priority area further include:
The corresponding region in position of seat is recharged when using charging recent apart from current time as priority area.
10. clean robot according to claim 7, which is characterized in that the processing unit recharges the candidate of acquisition Seat region is screened, to determine priority area further include:
Obtain the current location of the clean robot；
Calculate the target range that the candidate recharges the current location of a region and the clean robot；
The priority area is determined according to the target range.
11. clean robot according to any one of claims 7 to 10, which is characterized in that the processing unit is also used In execution following steps:
Judge whether the clean robot searches in the priority area and recharges seat；
If the clean robot does not search in the priority area and recharges seat, recharges in a region and remove in the candidate Other except the priority area, which recharge to search in region, recharges seat.
12. a kind of control method of clean robot characterized by comprising
During the clean robot executes cleaning task, acquire in the corresponding coverage of the clean robot Image；
Based on the image of clean robot acquisition, identification currently recharges seat；
Determine the position for currently recharging seat and the confidence level for currently recharging seat；
The candidate for obtaining storage recharges a region, the candidate recharge included at least in a region one recognized recharge seat Region；
The candidate, which is updated, according to the position for currently recharging seat and the confidence level for currently recharging seat recharges a region.
13. according to the method for claim 12, which is characterized in that described according to position and the institute for currently recharging seat It states and currently recharges the confidence level of seat and update candidate and recharge a region and include:
If the position for currently recharging seat does not recharge a region in the candidate, and the candidate recharges in a region and recharges area The number in domain is not up to preset quantity, then increases the corresponding defined area in position for currently recharging seat for the first candidate regions newly Domain, first candidate region are contained in the candidate and recharge a region.
14. method according to claim 12 or 13, which is characterized in that it is described according to it is described currently recharge the position of seat with And the confidence level for currently recharging seat updates candidate and recharges a region and include:
If the position for currently recharging seat does not recharge a region in the candidate, and the candidate recharges in a region and recharges area The number in domain reaches preset quantity, determines that the candidate recharges the confidence level that region is respectively recharged in a region；
It recharges if the confidence level for currently recharging seat is greater than the candidate and all in a region recharges the corresponding confidence level in region In minimum confidence level, then delete that minimum confidence level is corresponding to recharge region；
The corresponding defined area in position for currently recharging seat is increased newly as the second candidate region, the second candidate region packet A region is recharged contained in the candidate.
15. according to the method for claim 14, which is characterized in that the determination candidate recharges respectively to be recharged in a region The confidence level in region includes:
It calculates the candidate and recharges and respectively recharge the maximum in region in a region and averagely identify number；
It obtains the candidate and recharges the confidence level for respectively recharging seat in a region；
It is recharged based on the candidate and respectively recharges the maximum in region in region and averagely identify that number and the candidate recharge seat The confidence level that seat is respectively recharged in region determines that the candidate recharges the confidence level that region is respectively recharged in a region.
16. according to the method for claim 12, which is characterized in that described according to position and the institute for currently recharging seat It states and currently recharges the confidence level of seat and update the candidate and recharge a region and include:
If the position for currently recharging seat does not recharge in a region in the candidate, and the position for currently recharging seat is corresponding Defined area and candidate when recharging at least one in a region and recharging region and have lap, judge described currently to recharge The confidence level of seat whether be greater than it is described at least one recharge confidence level minimum in region；
If the confidence level for currently recharging seat be greater than it is described at least one recharge confidence level minimum in region, delete described in What at least one recharged confidence level minimum described in region recharges that seat is corresponding to recharge region；
The corresponding defined area in position for currently recharging seat is increased newly as third candidate region, the third candidate region packet A region is recharged contained in the candidate.
17. according to the method for claim 12, which is characterized in that described according to position and the institute for currently recharging seat It states and currently recharges the confidence level of seat and update candidate and recharge a region and include:
If the position for currently recharging seat includes that a target recharging in a region of the candidate recharges in region, and institute It states the current confidence level for recharging seat and is greater than the confidence level for recharging seat that the target recharges region, the target is recharged into region The confidence level for recharging seat is updated to the confidence level for currently recharging seat.
18. a kind of control method of clean robot, which is characterized in that the described method includes:
The candidate for obtaining storage recharges a region；
It recharges a region to the candidate to screen, to determine priority area；
When the clean robot, which enters, recharges mode, seat is recharged according to the priority area search.
19. according to the method for claim 18, which is characterized in that the candidate of described pair of acquisition recharges a region and sieves Choosing, to determine that priority area includes:
The confidence level for respectively recharging seat in a region is recharged according to the candidate, screens priority area, and the priority area recharges The confidence level of seat is greater than the first preset threshold.
20. according to the method for claim 18, which is characterized in that the candidate of described pair of acquisition recharges a region and sieves Choosing, to determine priority area further include:
The corresponding region in position of seat is recharged when using charging recent apart from current time as priority area.
21. according to the method for claim 18, which is characterized in that the candidate of described pair of acquisition recharges a region and sieves Choosing, to determine priority area further include:
Obtain the current location of the clean robot；
It calculates the candidate and recharges the target range for respectively recharging the current location of seat and the clean robot in a region；
The priority area, the priority area and the current location of the clean robot are determined according to the target range Target range is less than the second preset threshold.
22. method described in any one of 8 to 21 according to claim 1, which is characterized in that the method also includes:
Judge whether the clean robot searches in the priority area and recharges seat；
If the clean robot does not search in the priority area and recharges seat, recharges in a region and remove in the candidate Other except the priority area, which recharge to search in region, recharges seat.
23. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the computer program It is realized when unit processed executes such as the step of any one of claim 12 to 17 the method, and/or realizes such as right It is required that the step of any one of 18 to 22 the method.
CN201811489558.5A 2018-12-06 2018-12-06 Control method of cleaning robot and related equipment Active CN109512340B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811489558.5A CN109512340B (en) 2018-12-06 2018-12-06 Control method of cleaning robot and related equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811489558.5A CN109512340B (en) 2018-12-06 2018-12-06 Control method of cleaning robot and related equipment

Publications (2)

Publication Number Publication Date
CN109512340A true CN109512340A (en) 2019-03-26
CN109512340B CN109512340B (en) 2021-05-25

Family

ID=65795133

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811489558.5A Active CN109512340B (en) 2018-12-06 2018-12-06 Control method of cleaning robot and related equipment

Country Status (1)

Country Link
CN (1) CN109512340B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110334648A (en) * 2019-07-02 2019-10-15 北京云迹科技有限公司 Charging pile identifying system and method suitable for robot
CN113467451A (en) * 2021-07-01 2021-10-01 美智纵横科技有限责任公司 Robot recharging method and device, electronic equipment and readable storage medium

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1853552A (en) * 2005-04-20 2006-11-01 Lg电子株式会社 Cleaning robot having auto-return function to charching-stand and method using the same
US20130073088A1 (en) * 2011-09-20 2013-03-21 SeongSoo Lee Mobile robot and controlling method of the same
US8874264B1 (en) * 2004-07-07 2014-10-28 Irobot Corporation Celestial navigation system for an autonomous robot
CN106264342A (en) * 2016-08-23 2017-01-04 北京小米移动软件有限公司 Clean robot and control method thereof
CN106308685A (en) * 2016-08-23 2017-01-11 北京小米移动软件有限公司 Cleaning robot and control method thereof
US20180052468A1 (en) * 2016-08-22 2018-02-22 Lg Electronics Inc. Moving robot and controlling method thereof
CN107910915A (en) * 2017-11-24 2018-04-13 北京奇虎科技有限公司 Charging method, device and the electronic equipment of robot
CN107945233A (en) * 2017-12-04 2018-04-20 深圳市沃特沃德股份有限公司 Vision sweeping robot and its recharging method

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8874264B1 (en) * 2004-07-07 2014-10-28 Irobot Corporation Celestial navigation system for an autonomous robot
CN1853552A (en) * 2005-04-20 2006-11-01 Lg电子株式会社 Cleaning robot having auto-return function to charching-stand and method using the same
US20130073088A1 (en) * 2011-09-20 2013-03-21 SeongSoo Lee Mobile robot and controlling method of the same
US20180052468A1 (en) * 2016-08-22 2018-02-22 Lg Electronics Inc. Moving robot and controlling method thereof
CN106264342A (en) * 2016-08-23 2017-01-04 北京小米移动软件有限公司 Clean robot and control method thereof
CN106308685A (en) * 2016-08-23 2017-01-11 北京小米移动软件有限公司 Cleaning robot and control method thereof
CN107910915A (en) * 2017-11-24 2018-04-13 北京奇虎科技有限公司 Charging method, device and the electronic equipment of robot
CN107945233A (en) * 2017-12-04 2018-04-20 深圳市沃特沃德股份有限公司 Vision sweeping robot and its recharging method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110334648A (en) * 2019-07-02 2019-10-15 北京云迹科技有限公司 Charging pile identifying system and method suitable for robot
CN113467451A (en) * 2021-07-01 2021-10-01 美智纵横科技有限责任公司 Robot recharging method and device, electronic equipment and readable storage medium

Also Published As

Publication number Publication date
CN109512340B (en) 2021-05-25

Similar Documents

Publication Publication Date Title
CN110522359B (en) Cleaning robot and control method of cleaning robot
CN111700546B (en) Cleaning method of mobile robot and mobile robot
CN106308685B (en) cleaning robot and control method thereof
CN110477825A (en) Clean robot, recharging method, system and readable storage medium storing program for executing
US10102429B2 (en) Systems and methods for capturing images and annotating the captured images with information
CN114521836B (en) Automatic cleaning equipment
CN111035327B (en) Cleaning robot, carpet detection method, and computer-readable storage medium
CN109730590A (en) Clean robot and the method for clean robot auto-returned charging
US20210003405A1 (en) Moving robot and control method thereof
CN110515383A (en) The method and mobile robot of recharging
US10860033B2 (en) Movable object and method for controlling the same
EP3405845A1 (en) Object-focused active three-dimensional reconstruction
CN110376934A (en) Clean robot, clean robot control method and terminal control method
KR20180081546A (en) Automatic cleaning device and cleaning method
CN109920424A (en) Robot voice control method and device, robot and medium
CN107945233A (en) Vision sweeping robot and its recharging method
CN110502014A (en) A kind of method and robot of robot obstacle-avoiding
CN112075879A (en) Information processing method, device and storage medium
CN110179404A (en) Clean robot, clean method and computer readable storage medium
CN109512340A (en) A kind of control method and relevant device of clean robot
CN111625007A (en) Method for identifying dynamic obstacle and mobile robot
CN211933898U (en) Cleaning robot
CN108803659A (en) The heuristic three-dimensional path planing method of multiwindow based on magic square model
CN113467451A (en) Robot recharging method and device, electronic equipment and readable storage medium
CN110412993A (en) The method and mobile robot of recharging

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
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20200115

Address after: 518111 Longhua Street, Longhua District, Shenzhen City, Guangdong Province

Applicant after: Shenzhen Feike Robot Co., Ltd.

Applicant after: Shenzhen Silver Star Intelligent Technology Co.,Ltd.

Address before: 518111 Longhua Street, Longhua District, Shenzhen City, Guangdong Province

Applicant before: Shenzhen Feike Robot Co., Ltd.

GR01 Patent grant
GR01 Patent grant