CN110393482A

CN110393482A - Maps processing method and clean robot

Info

Publication number: CN110393482A
Application number: CN201910830908.8A
Authority: CN
Inventors: 刘煜熙
Original assignee: Shenzhen Feike Robot Co Ltd
Current assignee: Shenzhen Feike Robot Co Ltd
Priority date: 2019-09-03
Filing date: 2019-09-03
Publication date: 2019-11-01

Abstract

The embodiment of the present application provides a kind of maps processing method and clean robot, the method is applied to clean robot, it include: the border map for the autonomous positioning and navigation for establishing clean robot, border map includes the attribute in the region based on measurement object and the position in region, and wherein the attribute in region includes the type in region；According to border map, clean robot is controlled.Implementing the application can realize that clean robot distinguishes the attribute of barrier in map, while improving cleaning coverage rate for different barriers, reduce and clean risk.

Description

Maps processing method and clean robot

Technical field

This application involves field in intelligent robotics more particularly to a kind of maps processing method and clean robots.

Background technique

In the modern life, clean robot is gradually applied and is popularized.In the cleaning process of clean robot, it can encounter each Kind barrier, such as wall, tables and chairs, vase.Existing barrier processing scheme mainly by clean robot front or Noncontacting proximity sensor is installed at top, and such as infrared, the distance measuring sensors such as laser or ultrasonic wave are detected far by contactless mode Square barrier；Then a set of contact sensor, such as switch or capacitance sensing are installed in front, to detect clean robot and barrier Hinder the touching of object.Noncontacting proximity sensor and touch sensor cooperate, to form a set of avoidance path.The prior art In, clean robot during the motion, is constructed the map of peripheral obstacle by the SLAM system of itself and is navigated with this, into The orderly cleaning planning of row.However map constructed by the prior art is usually the grating map for only including obstacles borders position Or node map, clean robot can not distinguish the attribute of barrier in map and formulate more intelligent cleaning planning.

Summary of the invention

The embodiment of the present application provides a kind of maps processing method and clean robot, it can be achieved that clean robot is in map The middle attribute for distinguishing barrier reduces while improving cleaning coverage rate for different barriers and cleans risk.

In a first aspect, the embodiment of the present application provides a kind of maps processing method, the method is applied to clean robot, It include: the border map for the autonomous positioning and navigation for establishing the clean robot, the border map includes being based on the survey The attribute in the region of object and the position in the region are measured, wherein the attribute in the region includes the type in the region；Storage institute State border map；According to the border map, the clean robot is controlled.

It can be seen that implementing the embodiment of the present application, the border map for positioning and navigating that clean robot is established is (such as SLAM map) it include attribute and the position for being based on the region of measurement object (such as ground or barrier), the attribute packet in the region Include the type in the region.To which clean robot can formulate suitable cleaning strategy according to the border map.In this way, Clean robot can be planned and be cleaned come execution route using the relevant range attribute in border map, be advantageously implemented and mentioned The cleaning coverage rate of high cleaning robot reduces risk or negative effect.

Based in a first aspect, in a possible embodiment, the autonomous positioning and navigation for establishing the clean robot Border map before, further includes: sensing it is described measurement object height；Correspondingly, it is described establish the clean robot from The border map of master positioning and navigation, specifically: according to the height of the measurement object, establish the autonomous fixed of the clean robot The border map of position and navigation；Wherein the measurement object includes region on ground, and the border map includes being based on the ground The type of the shaped area of the elevation information configuration in upper region, the shaped area is used to indicate the movement of clean robot.

Specifically, clean robot is respectively each measurement in the border map after obtaining each height for measuring object Object add height identification, when measure object be barrier when, the corresponding height identification of barrier be used to indicate barrier top and/ Or the height on distance from bottom ground, or it is used to indicate the top of barrier and/or the height of distance from bottom horizontal plane.Work as measurement When object is ground, the height identification on ground can be zero perhaps close to zero or to be used to indicate ground upper limb apart from horizontal plane Highly.

Then, clean robot can according to the map in each barrier height identification configure shaped area.Specifically, can It according to height indicated by the height identification of each barrier, is compared with the height threshold of pre-configuration, thus to each barrier Hinder object to carry out clustering processing, such as clusters the object on raised ground based on certain rule, by the object base on the ground that is recessed It is clustered in certain rule, object empty under upper reality cluster based on certain rule, etc., to obtain one kind Or a variety of shaped areas.

Wherein, the height threshold of the pre-configuration comprises at least one of the following: maximum obstacle detouring height of projection, maximum obstacle detouring are recessed Fall into height, minimum height of projection, minimum recess heights, the fuselage height of the clean robot, the clean robot bottom Disk height.

In possible realization, the type of the shaped area formed through the above way may include barrier zone, rugged convex Play one of empty region or a variety of under region, flat site, rugged sunk area, steep cliff region, upper reality.Wherein barrier zone It can be collectively referred to as avoidance zone again with steep cliff region, wherein empty under rugged elevated regions, flat site, rugged sunk area, upper reality Region is can be collectively referred to as again across region.

In a possible embodiment, when the type of the shaped area of acquisition indicates avoidance zone, cleaner can control Device people generates according to the position of acquired shaped area avoids path, and is based on the avoidance path, and the avoidance path is used In making clean robot avoid the avoidance zone.

In another possible embodiment, when the type of the shaped area of acquisition indicates to cross over region, cleaning can control Robot is generated according to the position of acquired shaped area crosses over path, and based on described across path, described to cross over path For making the clean robot across described across region.

It can be seen that by configuring shaped area, it can be achieved that environment divided based on different featuress of terrain, that , subsequent one or more shaped areas that can be divided according to clean robot determine clean robot in the environment Motor pattern, improve the intelligence degree of clean robot, realize that the measurement object of the avoidance is just avoided, the measurement object of the leap With regard to crossing over, the cleaning effect of each region is targetedly improved.

Based in a first aspect, in a possible embodiment, the measurement object includes barrier, and the border map includes institute State the type of the purging zone for cleaning attribute and the cleaning attribute configuration based on the barrier of barrier, the purging zone It is used to indicate the cleaning of clean robot.

In the specific implementation, clean robot can first determine that the object type of measurement object, that is, identification measurement object are specifically What object.Then, the corresponding cleaning type of each measurement object is determined according to the object type of each measurement object.It is described clear Sweep type for characterize measure object whether can be cleaned or can be pushed.Then, the measurement object addition in map is clear Type identification is swept, cleaning type identification is the cleaning type for being used to indicate the measurement object.

In this way, clean robot can according to the map in each barrier cleaning type identification configure shaped area.Specifically , clean robot can gather each barrier according to the cleaning type identification of barrier each in the map Class processing, for example will can clean class measurement object and be clustered based on certain rule, class measurement object can not be cleaned and be based on centainly Rule clustered, class barrier will can be pushed cluster based on certain rule, etc., to obtain one or more Purging zone.

In possible realization, the type of the purging zone formed in this way may include cleanable area, not cleanable area, One of barrier zone or a variety of can be pushed.

In a possible embodiment, when the type of the purging zone of acquisition indicates cleanable area, it can control described Clean robot cleans the cleanable area.

In another possible embodiment, when the purging zone of acquisition type indicate can not purging zone when, can control The clean robot does not clean the not cleanable area.

In another possible embodiment, when the expression of the type of the purging zone of acquisition can push barrier zone, controllably The barrier in the mobile purging zone of the clean robot is made, and the region after moving obstacle is cleaned.

It can be seen that realize by the way that purging zone is arranged and divide environment based on different cleaning attributive character, So, subsequent one or more purging zones that can be divided according to clean robot determine clean robot in environment In cleaning modes realize that the measurement object of the cleaning just cleans in this way, improving the intelligence degree of clean robot, should not The measurement object of cleaning does not just clean, and targetedly improves the cleaning effect of each region.

Based in a first aspect, in a possible embodiment, the autonomous positioning and navigation for establishing the clean robot Border map before, further includes: acquisition measurement object image；The image of the measurement object includes the surface point of the measurement object Characteristic；Correspondingly, the border map according to the autonomous positioning and navigation of establishing the clean robot, specific to wrap It includes: according to the characteristic, obtaining the current point cloud data of the measurement object；Use the current point cloud data and history point Cloud data carry out characteristic matching, obtain the pose data of the clean robot；According to the current point cloud data, the history Point cloud data and the pose data, establish the border map.

Wherein, the characteristic of the surface point of the measurement object includes the combination of one or more of: the surface point Image data, the distance between depth data, the surface point and the clean robot data of the surface point.

That is, having at least three kinds of modes in the application to establish SLAM map.

A kind of mode is that clean robot establishes SLAM map according to the image data of acquisition.

A kind of mode is that clean robot establishes SLAM map according to the depth data of measurement object.

A kind of mode is that clean robot establishes SLAM map according to the range data of measurement object.

It should be noted that the application can also be according to the several combination in above-mentioned three kinds of modes come with establishing SLAM Figure.So the technical solution of the application is with a wide range of applications and practicability.

Based in a first aspect, in a possible embodiment, the border map that the application establishes can be SLAM map, can also To be two-dimensional map.In a possible embodiment, measurement object each in the SLAM map can be projected two by clean robot Dimensional plane obtains the two-dimensional map.Since measurement object each in SLAM map has corresponding mark (such as height identification, clear Sweep type identification etc.), so, each barrier in two-dimensional map generated equally has corresponding mark.

It can be seen that the embodiment of the present application projects SLAM map to form two-dimensional map, due to the measurement in two-dimensional map Object include SLAM map measurement object key feature, so the two-dimensional map equally may be implemented increment type build figure, positioning with And navigation.It can further be seen that two-dimensional map can be greatly saved the data volume of map, is conducive to improve and builds figure, position and lead The efficiency of boat.

Based in a first aspect, in a possible embodiment, clean robot is according to the border map for being added with the mark Formulate barrier processing strategie, barrier processing strategie includes the motor pattern of clean robot in the environment and cleans mould Formula.The motor pattern is used to indicate the motion path of the clean robot and the motion state of the clean robot.Institute State the working condition that cleaning modes are used to indicate the clearing apparatus of the clean robot.

It is described according to the border map based in a first aspect, in a possible embodiment, control the cleaning machine People, comprising: according to the border map, obtain one or more shaped areas；It is true according to one or more shaped areas Determine motor pattern, the motor pattern is used to indicate the movement of the motion path and the clean robot of the clean robot State；According to the motor pattern, the clean robot is controlled.

Specifically, the motion path in motor pattern (can be avoided path and/or cross over path) configuration by clean robot For straight line path, curved path, along one of wall path, bow vee path V, spiral path or a variety of combinations；Clean machine People can configure the motion state in motor pattern to one or more of following behavior or content: deceleration, acceleration, adjustment add Speed (such as adjustment deceleration acceleration), adjustment direction of advance, straight line retreat, (movement starting point is used for required movement starting point Determine the starting point for carrying out avoidance movement), etc..Based on this, subsequent controllable clean robot realizes clean robot in ring Movement in border.

One in the specific implementation, the controller is according to institute when the type of the shaped area of acquisition indicates avoidance zone The position of the shaped area of acquisition, which generates, avoids path；And it is based on the avoidance path, it controls the clean robot and avoids institute The shaped area of acquisition；

One in the specific implementation, the controller is according to institute when the type of the shaped area of acquisition indicates to cross over region The position of the shaped area of acquisition, which generates, crosses over path；And path is crossed over based on described, the clean robot is controlled across institute The shaped area of acquisition.

It can be seen that implementing the embodiment of the present application, clean robot can formulate suitable movement mould according to border map Formula improves and cleans coverage rate, avoids clean robot from being in jeopardy and situation and causes damages to ambient enviroment, reduces risk or negative Face is rung, thus, improve the efficiency that clean robot is automatically performed cleaning operation.

It is described according to the border map based in a first aspect, in a possible embodiment, control the cleaning machine People, comprising: one or more purging zones are obtained from the border map；It is determined according to one or more purging zones Cleaning modes, the cleaning modes are used to indicate the working condition of the clearing apparatus of the clean robot；According to the cleaning Mode controls the clean robot.

Specifically, clean robot can be performed one or more of combination operational order: adjust the side sweep it is clear Speed is swept, the cleaning speed swept in described is adjusted and cleans height, the suction for adjusting the fan assembly, the control cleaner At least one of in the spray operation of the water injector of device people.It is subsequent that the clearing apparatus can control to implement to environment based on this It cleans.

One in the specific implementation, controlling the cleaner when the type of the purging zone of acquisition indicates cleanable area Device people cleans acquired purging zone；

One in the specific implementation, when the expression of the type of the purging zone of acquisition can push barrier zone, control described clear Barrier in the mobile purging zone of clean robot, and the region after moving obstacle is cleaned.

It can be seen that implementing the embodiment of the present application, clean robot can be suitable for clear according to border map formulation Mode is swept, realizes that clean robot improves to the cleaning exhaustive of rubbish and cleans coverage rate, and be avoided that clean robot is fallen into It unsafe condition and causes damages to ambient enviroment, reduces risk or negative effect.To improve the intelligence of clean robot Degree and cleaning effect.

Second aspect, the embodiment of the present application provide a kind of clean robot, and the clean robot includes fuselage main body And the clearing apparatus being connect with the fuselage main body, wherein the fuselage main body includes that controller, acquisition device and height pass Sensor.Wherein, the controller, for establishing the autonomous positioning of the clean robot and the border map of navigation, the side Boundary's map includes the attribute in the region based on the measurement object and the position in the region, wherein the attribute in the region includes institute State the type in region；The controller is also used to control the clean robot according to the border map.The highly sensing Device is used to sense the height of the measurement object.The acquisition device is used to acquire the image of measurement object, the image of the measurement object The characteristic of surface point including the measurement object.

The all parts of the clean robot, which are particularly used in, realizes method described in first aspect.

The third aspect, the embodiment of the present application provide a kind of clean robot, including data acquisition module, data processing mould Block, obstacle recognition module, maps processing module (alternatively referred to as SLAM module or SLAM system), barrier processing module, institute The each functional module for stating clean robot, which is particularly used in, realizes method described in first aspect.

Fourth aspect, the embodiment of the present application provides a kind of non-volatile memory medium, for storing program instruction, when this When program instruction is applied to clean robot, it can be used for realizing method described in first aspect.

5th aspect, the embodiment of the present application provide a kind of computer program product；The computer program product includes journey Sequence instruction, when the computer program product is executed by clean robot, which is executed described in aforementioned first aspect Method.The computer program product can be a software installation packet, need any possibility using aforementioned first aspect Design provide method in the case where, the computer program product can be downloaded and execute the computer on clean robot Program product, to realize first aspect the method.

It can be seen that implementing the embodiment of the present application, clean robot establishes positioning and the border map to navigate (such as SLAM Figure) after, measurement object attribute-bit, such as height identification, cleaning type identification can be added to the measurement object in border map, this Sample, the border map established by include based on it is described measurement object region attribute and the region position, the area The attribute in domain includes the type (such as various types of shaped areas, various types of purging zones) in the region.So as to Suitable cleaning strategy (such as motor pattern, cleaning modes) is formulated according to the border map.Both clean robot can be realized It to the cleaning exhaustive of rubbish, improves and cleans coverage rate, and be avoided that clean robot is in jeopardy situation and to ambient enviroment It causes damages, reduces risk or negative effect.To improve the efficiency that clean robot is automatically performed cleaning operation, be promoted The intelligence degree of clean robot and clean effect.

Detailed description of the invention

In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.

Figure 1A is the schematic top plan view of the exemplary clean robot provided of the embodiment of the present application；

Figure 1B is the elevational schematic view of the exemplary clean robot provided of the embodiment of the present application；

Fig. 2 is the structural schematic diagram of the exemplary clean robot provided of the embodiment of the present application；

Fig. 3 is the controller function structural schematic diagram of the exemplary clean robot provided of the embodiment of the present application；

Fig. 4 is a kind of flow diagram of maps processing method provided by the embodiments of the present application；

Fig. 5 is the flow diagram of another maps processing method provided by the embodiments of the present application；

Fig. 6 is a kind of schematic diagram of SLAM map provided by the embodiments of the present application；

Fig. 7 is a kind of schematic diagram of two-dimensional map provided by the embodiments of the present application；

Fig. 8 is the schematic diagram of the shaped area in a kind of map provided by the embodiments of the present application.

Fig. 9 is the schematic diagram of the cleaning type area in a kind of map provided by the embodiments of the present application.

Specific embodiment

Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall in the protection scope of this application.

It should be noted that the term used in the embodiment of the present application is only merely for the mesh of description specific embodiment , it is not intended to be limiting the application." the one of the embodiment of the present application 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.

Figure 1A and Figure 1B is a kind of structural schematic diagram for clean robot 10 that one embodiment of the application provides, wherein Figure 1A shows the top view of the clean robot 10, and Figure 1B shows the bottom view of the clean robot 10.Such as Figure 1A and figure Shown in 1B, which includes: fuselage main body 101 and the clearing apparatus that connect with the fuselage main body 101, is cleaned Device for example may include it is one or more while sweep (as shown in clearing apparatus include while sweep 1021 and side sweep 1022).It is optional real It applies in example, clearing apparatus, which may also include, sweeps 1041 in one or more.

Clean robot 10 may also include fan assembly (such as blower, not shown), and fan assembly may be disposed at fuselage main body 101 inside.With ground have centainly interfere in sweep by the rubbish on ground sweep up and winding swept in dirt box structure it Between suction inlet front, then by fan assembly generate and pass through dirt box have suction gas sucking dirt box in.One is optional Embodiment in, clean robot 10 may also include one or more water injector (not shown).

Clean robot 10 includes wheel arrangement, and middle wheel arrangement includes driving wheel 1031,1032 and of driving wheel as shown Driven wheel 1033.Wherein in driving wheel 1031 and driving wheel 1,032 one be revolver sub-device, one is right wheel sub-device.Actively Wheel 1031 and driving wheel 1032 are centrally disposed in the opposite side of the bottom of machine body 101 in a symmetrical manner respectively.It is holding Executing during row cleaning includes the motor performance for travelling forward, moving backward and rotating.Driven wheel 1033 is arranged in machine body 101 fronts, for changing driving direction of clean robot during traveling.

Clean robot 10 further includes the acquisition device positioned at housing upper face.Acquisition device can be used for acquiring clean robot The surface point of the barrier in front characteristic (such as the image data of the surface point, the surface point depth data, The distance between the surface point and the clean robot data etc.).In the specific implementation, acquisition device may include that image is adopted Acquisition means, image collecting device is for example including the camera 1051 in diagram.Acquisition device may also comprise device for measuring barrier, Device for measuring barrier is for example including one or more sensors 1061 in diagram, one or more of sensors 1061 Such as can be height sensor, RGBD sensor, laser range sensor, infrared obstacle sensor, ultrasonic obstacle sensor, One of infrared steep cliff sensor, contact sensor etc. are a variety of.Wherein RGBD sensor may include for acquiring color First camera of image, for the second camera of sampling depth image and for projecting infrared speckle pattern outward Infrared transmitter, the first camera, second camera can couple (not shown) with imaging sensor respectively.

One in the specific implementation, the shell of clean robot 10 can be rounded, be also possible to other shapes (it is such as rectangular, Ellipse etc.), here without limitation.

One in the specific implementation, image collecting device includes, but are not limited to monocular cam, binocular camera, depth takes the photograph As at least one of head.Image collecting device is set to front position (the i.e. preposition camera shooting dress of the housing upper face of fuselage main body Set), shooting or recording function are carried out for realizing the barrier met in direction of advance traveling to clean robot, and will figure To the associated components being contained in shell, associated components realize clean robot 10 based on image or video for picture or transmission of video Route planning.Wherein, the associated components being contained in shell can refer to the description of Fig. 2 embodiment, and which is not described herein again.

It in some embodiments, can also rear portion, bottom in fuselage main body other than preposition photographic device is installed Photographic device is installed Deng other positions, is stored for acquiring the ambient image of fuselage body peripheral edge, and by the ambient image of acquisition In memory 315.

One in the specific implementation, wheel arrangement can be fixedly connected with the casing, wheel arrangement is used for the phase based on fuselage main body It closes the driving of component and is moved.Specifically, can be used for advancing, retreat, adjusting direction of advance etc. movement and for accelerating, Slow down, at the uniform velocity, pause etc. movement.For example, as shown in Figure 1B, driving wheel 1031 and driving wheel 1032 can be used for advance or after It moves back, driven wheel 1033 can be used for adjusting direction of advance.Driving wheel 1031 and driving wheel 1032 can also be used in realize accelerate, slow down, At the uniform velocity, the movement such as pause.It is not limited it should be noted that the specific location below shell is arranged in wheel arrangement in the application It is fixed.

One in the specific implementation, side, which is swept, may be disposed at the front position below shell, for advancing in clean robot 10 Middle carry out refuse sweeping.For example, as shown in Figure 1B, while sweep including while sweep 1021 and side sweep 1022, and while sweep 1021 and while 1022 are swept all compared to certain relative distance is stretched out before shell, to expand cleaning range and realize described by the embodiment of the present application Maps processing method.In one example, while sweeping can be fixedly connected with shell, at this point, the edge that side is swept is with respect to shell Distance is fixed.In a further example, while scalable connection can be carried out with shell by sweeping, at this point, the edge that side is swept is with respect to shell Distance can change, can according to processing mode need and change clean distance.

One in the specific implementation, in sweep 1041 and may be disposed at the position of housing bottom, for advancing in clean robot 10 In with ground formed interfere, the rubbish on ground is cleaned and is recycled.For example, as shown in Figure 1B, 1041 are swept in can To be that the cydariform rotated with idler wheel shape turns brush, it is additionally provided with dirt box (not shown) inside housings, dirt box sweeps 1041 in Engagement sweeps 1041 rubbish recycled for collecting in warp.

One in the specific implementation, fan assembly is, for example, blower, fan assembly may be disposed at enclosure interior, can for providing The suction of tune, to sweep 1041 in making while executing cleaning operation, rubbish (such as dust, paper scrap) is introduced in dirt box In, rubbish is sent into dirt box to sweep 1041 in ensuring.

One in the specific implementation, water injector may be disposed at the position of housing bottom, before may also be disposed below shell Orientation is set, for operation of being sprayed water or sprinkled water, in order to keep rubbish (such as swill) wet convenient for cleaning.Specific implementation In, it is additionally provided with the water tank (not shown) for water storage inside housings, water tank can be engaged with water injector, thus for water spray dress Offer water source is provided.

It should be noted that clean robot 10 may also include other module or components, such as cleaner in practical application Device people 10 further includes recharging seat, and for realizing the autonomous intelligence charging etc. of clean robot 10, the embodiment of the present application is not limited It is fixed.

Referring to fig. 2, Fig. 2 is a kind of structural frames of specific implementation of clean robot 10 provided by the embodiments of the present application Figure.As shown in Fig. 2, clean robot 10 can include: chip 310, (the one or more computer-readable storage mediums of memory 315 Matter), peripheral system 317.These components can communicate on one or more communication bus 314.

Peripheral system 317 is mainly used for realizing the interactive function between SLAM terminal 300 and user/external environment, specifically In realization, peripheral system 317 can include: Sport Administration module 318, camera management module 319, clean management module 320 with And several components in sensor management module 321.Wherein, each management module can be with corresponding peripheral equipment as taken turns The coupling such as sub-device 323, camera 324, clearing apparatus 325 and sensor 326.It is the Sport Administration module 318, described clear Sweep management module 320, the wheel arrangement 323.Wherein:

In some embodiments, wheel arrangement 323 can further comprise driving wheel and driven wheel, driving wheel and driven wheel Function can refer to description above.

In some embodiments, camera 324 can be monocular cam or binocular camera.

In some embodiments, clearing apparatus 325 can further comprise side sweep and in sweep, while sweep and in the function swept can join Examine description above.

In some embodiments, the function of one or more (not shown) in fan assembly and water injector can refer to The description of text.

In some embodiments, sensor 326 can further comprise with one or more of lower sensor: for example can be with It is height sensor, RGBD sensor, laser range sensor, infrared obstacle sensor, ultrasonic obstacle sensor, infrared outstanding One of precipice sensor, contact sensor etc. are a variety of.Wherein RGBD sensor can refer to description above.Wherein contact Sensor can be used for detecting clean robot 10 whether with bar contact, contact sensor can further include switch, capacitor Sensing, pressure sensitive etc..In some optional embodiments, sensor 326 further includes speedometer, accelerometer, odometer, radio frequency (RF) sensor, geomagnetic sensor, one of position sensitive device (PSD) sensor etc. or a variety of (not shown).Sensor 326 for sensing the obstruction data around clean robot.

It should be noted that peripheral system 317 can also include other I/O peripheral hardwares, here without limitation.

It includes: one or more controllers 311 (or processor), clock module 312 and possibility that chip 310, which can integrate, Power management module 313.The clock module 312 being integrated in chip 310 is mainly used for generating data transmission for controller 311 With clock required for timing control.The power management module 313 being integrated in baseband chip 310 is mainly used for as controller 311 and peripheral system stable, pinpoint accuracy voltage is provided.

Memory 315 is coupled with controller 311, for storing various data (mark, barrier in such as map datum, map Hinder the object type of object, the characteristic of the surface point of barrier, the point cloud data of barrier, the pose data of barrier, fortune Dynamic mode data, cleaning modes data, etc.), various software programs and/or multiple groups program instruction, storage clean robot 10 Travel zone map.In the specific implementation, memory 315 may include the memory of high random access, and may also comprise Nonvolatile memory, such as one or more disk storage equipments, flash memory device or other non-volatile solid-state memory devices. Memory 315 can also store one or more application program, such as SLAM system program, deep learning image algorithm.Control Device 311 includes, but are not limited to: central processing unit, single-chip microcontroller, digital signal processor, microprocessor etc..

In some embodiments, the map includes global position figure, the position in each room, measurement object in travel zone Location information, the type for measuring object etc..In the traveling process of clean robot 10, the number that is sensed based on various sensors According to updating the data in the map.

It should be appreciated that concrete application scene in, clean robot 10 can have than Fig. 2 shows component it is more or fewer Component can combine two or more components, or can have the different configurations of component to realize.

In the application specific embodiment, the controller 311 can be used for calling program instruction and data in memory, with Realize that maps processing method described below does not repeat here in order to illustrate the succinct of book.

The related function module of controller 311 is described further below.It is a kind of tool of controller 311 referring to Fig. 3, Fig. 3 The structural block diagram of body implementation, as shown in figure 3, controller 311 further comprises data acquisition module 401, data processing mould Block 403, obstacle recognition module 405, maps processing module 407 (alternatively referred to as SLAM module or SLAM system), at barrier Manage module 409, in which:

Data acquisition module 401, the characteristic of the surface point for acquiring the multiple measurement object；

Data processing module 403 is used for, and according to the characteristic, obtains the current point cloud data of the measurement object；Make Characteristic matching is carried out with the current point cloud data and history point cloud data, obtains the pose data of the clean robot；

Maps processing module 407, for according to the current point cloud data, the history point cloud data and the pose number According to for the autonomous positioning of the clean robot and the map of navigation, the border map includes being based on the measurement for foundation The position in the attribute in the region of object and the region, wherein the attribute in the region include the region type it is (such as various types of The shaped area of type and various types of purging zones), i.e., positioning in real time used by clean robot can with the map of navigation For SLAM map.In addition, maps processing module 407 can also be used in, measurement object each in the SLAM map is projected into two dimension Plane obtains two-dimensional map, and in this case, i.e., it is described for positioning in real time used by clean robot with the map of navigation Two-dimensional map.

In addition, maps processing module 407 can be used for, respectively each measurement object in map (SLAM map or two-dimensional map) Addition mark, the mark are used to indicate the thingness of corresponding measurement object and/or clean attribute, and the mark is for example including height Type identification is known and cleaned to scale.

Obstacle recognition module 405 can be used to identify the object type of multiple measurement objects in the direction of advance of clean robot Type, in order to obtain the thingness of measurement object and/or clean attribute.

Barrier processing module 409, for determining the fortune of clean robot according to the border map for being added with the mark Dynamic model formula and cleaning modes.

Subsequent, the instruction of motor pattern and cleaning modes can be sent to associated drives dress shown in Fig. 2 by controller 311 It sets, such as Sport Administration module 318 and cleaning management module 319, to further drive the wheel by Sport Administration module 318 Sub-device 323 is moved, and by cleaning management module 319, further driving clearing apparatus 325 is cleaned.

Above-mentioned modules are specifically to realize maps processing method described below, in order to illustrate the succinct of book, this In do not repeat.

Referring to fig. 4, it is based on clean robot described above, is described below at a kind of map provided by the embodiments of the present application Reason method, this method include being described in detail for side is swept by the clearing apparatus of clean robot, and this method includes but unlimited In following steps:

Step 201, clean robot establish the autonomous positioning for the clean robot and the border map of navigation, institute State multiple measurement objects in the direction of advance that border map includes the clean robot.

In specific embodiment, clean robot at work, acquires the image that object is measured on direction of travel, then according to institute The image for stating measurement object, establishes the autonomous positioning of the clean robot and the border map of navigation.Wherein, the embodiment of the present application In, the measurement object may include ground (such as ground of indoor furniture environment) and barrier in robot local environment.It needs It is noted that ground can also be considered as the special obstacle that a kind of height is zero or near zero in various embodiments herein Object.In this case, barrier described in various embodiments herein can also be equal to the concept of measurement object.

Wherein, ground described herein can be flat (such as cement flooring, tile floor, wood floor, modeling Expect ground), it is also possible to uneven (such as woollen blanket ground, fold ground)

Wherein, barrier described herein be clean robot encountered during traveling arbitrarily may be right The object that the movement of clean robot impacts.Specifically, barrier can be the object on raised ground, such as furniture, family Electricity, toy, bottled article, animal wastes, wall, electric wire, the tea table door curtain made of cloth, threshold, shoes etc.；Barrier is also possible to closely The object in face, such as the water stain of ground, pile of grounds etc.；Barrier can be the object to go down from the ground caved in, such as stair, Groove etc..

Specifically, clean robot is moved since a unknown position in circumstances not known (such as indoor furniture environment) When, can by itself SLAM (SimultaneousLocalizationandMapping, Chinese: while positioning with build figure) system System, in moving process, acquire barrier characteristic (such as barrier image data or barrier surface point Depth data or barrier surface point range data etc.), self poisoning is carried out according to location estimation and map, together When continue on the basis of self poisoning build increment type map, to realize the autonomous positioning and navigation of clean robot.It can It will include multiple measurement objects in environment with understanding, in the map established.In a particular application, barrier included in map Object is hindered to be in practice likely to be the boundary (abbreviation obstacles borders) of barrier, the obstacles borders can be the outside of barrier The set of the surface point of edge, obstacles borders may be the boundary for formed after expansion extension by the outer edge of barrier. It should be understood that herein, although being described so that map includes barrier as an example, the technical idea of the application Cover the embodiment that map includes obstacles borders.

In specific embodiment, clean robot may be SLAM eventually for the border map of self poisoning and navigation Figure, it is also possible to treated map is carried out to SLAM map, barrier each in SLAM map is such as projected into two-dimensional surface, To the two-dimensional map formed.Specific implementation process reference may also be made to following Example step 401a- step 401c and step 402 description, which is not described herein again.

Step 202, clean robot be respectively in the border map each measurement object addition mark, the mark be used for It indicates the thingness of corresponding measurement object and/or cleans attribute.

The thingness of the measurement object indicates the feature of object.Thingness includes but is not limited to: object type, object Height, the position of object, scale data of object etc..It cleans attribute to include, but are not limited to: the cleaning of object region Type, the size etc. of object region.

In the embodiment of the present application, the mark is for example including height identification and cleans type identification, when measurement object is obstacle When object, the corresponding height identification of barrier is used to indicate the top of barrier and/or the height on distance from bottom ground, or is used for Indicate the top of barrier and/or the height of distance from bottom horizontal plane.When measuring object is ground, the height identification on ground can be Zero perhaps close to zero or is used to indicate height of the ground upper limb apart from horizontal plane.

In the specific implementation, determine measurement object height identification before, can first determine measure object object type and Measure object height value, that is, identification measurement object be specifically what object and the measurement object top or bottom to join Examine the distance of plane (ground or horizontal plane).In this way, can height identification (height identification includes height value) be tied to and be built Measurement object in vertical map.

For example, measurement object is that threshold, household electrical appliances etc. are raised in the object on ground, then the objects such as threshold, household electrical appliances can be detected respectively The top of body is to the height value on ground, and using these height values as the height identification of the objects such as threshold, household electrical appliances, (height value is Positive value, and can record the maximum height of projection that the height value is the objects such as threshold, household electrical appliances), and these height identifications are tied up respectively The objects such as fixed threshold, household electrical appliances in the map established.

For another example, measurement object is the object that low-lying ground, stair etc. go down from the ground caved in, then can detect respectively low-lying The concave face of the objects such as ground, stair to ground height value, using these height values as objects such as low-lying ground, stair Height identification (height value is negative value, and can record the maximum recess heights that the height value is the objects such as low-lying ground, stair), And these height identifications are tied to the objects such as low-lying ground, stair in established map respectively.

For another example, measurement object is the objects empty under upper reality such as tea table, sofa, then tea table, sofa etc. can be detected respectively To the height value on ground, the height identification using these height values as objects such as low-lying ground, stair is (high for the bottom surface of object Angle value is positive value, and can record the minimum height of projection that the height value is the objects such as tea table, sofa), and by these height identifications It is tied to the objects such as tea table, the sofa in established map respectively.

In the embodiment of the present application, the mark for example further includes cleaning type identification, and the cleaning type identification is for referring to Show the cleaning type of measurement object.

In the specific implementation, the object type of measurement object can be first determined before the cleaning type identification for determining measurement object, Namely identification measurement object is specifically any object.Then, each measurement is determined according to the object type of each measurement object The corresponding cleaning type of object.The cleaning type is for characterizing can whether measurement object can be cleaned or be pushed.Wherein, In one possible embodiment, the corresponding relationship that clean robot can be pre-configured with object type and clean between type (is such as configured Mapping table).In another possibility embodiment, clean robot can be pre-configured with trained machine learning model (such as nerve net Network model), object type is input to the machine learning model, can be obtained the corresponding cleaning type of measurement object.In this way, can Type identification (clean type identification and be used to indicate cleaning type) will be cleaned and be tied to the measurement object in established map.

For example, cleaning type can classify are as follows:

Class measurement object: such as ground, furniture, household electrical appliances, wall, threshold can be cleaned.

Class measurement object can not be cleaned, such as animal wastes, electric wire, vase, liquid (coffee, fruit juice, milk etc.).

Obstacle class can be pushed to measure object, such as curtain, shoes, dustbin.

It should be noted that the mode classification of above-mentioned cleaning type is only illustrated, rather than the limitation to the application.In reality It in, can be gone that more cleaning types are arranged according to the needs of cleaning.It for example, can be by ground in possible application scene The cleaning type categorization that blanket, small particle rubbish, paper scrap etc. are difficult to the object cleaned is " strength cleans class and measures object ".It will be electric Line, socks, vase etc. are easily involved in or the cleaning type categorization of easily broken object is " measuring object far from class ".By objects such as tables and chairs, beds The cleaning type categorization of body is " emphasis cleans class and measures object " etc..

It should also be noted that, above-mentioned object and the corresponding relationship cleaned between type are only illustrated, rather than to this Shen Limitation please.In practical applications, it can be gone that the corresponding relationship is arranged according to the needs of cleaning.

It should be noted that the specific implementation process of this step reference may also be made to the description of following Example step 403, here It repeats no more.

Step 203, clean robot determine motor pattern and clean mould according to the border map for being added with the mark Formula.

In the embodiment of the present application, clean robot is formulated measurement object according to the border map added with the mark and is handled Strategy, measurement object processing strategie include clean robot motor pattern in the environment and/or cleaning modes.The movement mould Formula is used to indicate the motion path of the clean robot and the motion state of the clean robot.The cleaning modes are used for Indicate the working condition of the clearing apparatus of the clean robot.

In the embodiment of the present application, since border map is added with the mark, so the border map includes being based on The attribute in the region of the measurement object and the position in the region, wherein the attribute in the region includes the type in the region. Specifically, the type in the region can further comprise the type of shaped area and the type of purging zone.

One in the specific implementation, when measure object be ground when, clean robot can according to the map in it is each measurement object height Scale knows configuration shaped area.Specifically, can the height according to indicated by the height identification of each measurement object, height with pre-configuration Degree threshold value is compared, to carry out clustering processing to each measurement object.Such as by the object on raised ground be based on pre-defined rule into The object on the ground that is recessed is based on pre-defined rule and clustered by row cluster, and object empty under upper reality is carried out based on pre-defined rule Cluster etc., to obtain one or more shaped areas.

Such as the type of the shaped area formed in this way may include barrier zone, it is rugged elevated regions, flat site, rugged One of empty region or a variety of under sunk area, steep cliff region, upper reality.Wherein barrier zone and steep cliff region can be collectively referred to as again Avoidance zone, wherein empty region can be collectively referred to as across area under rugged elevated regions, flat site, rugged sunk area, upper reality again Domain.

By setting shaped area, realizes and divide environment based on different featuress of terrain, then, subsequent basis One or more shaped areas that clean robot can be divided determine the motor pattern of clean robot in the environment. For example, can control clean robot according to acquired morphologic region when the type of the shaped area of acquisition indicates avoidance zone The position in domain, which generates, avoids path, and is based on the avoidance path, and the avoidance path is for making described in clean robot avoidance Avoidance zone；When the type of the shaped area of acquisition indicates to cross over region, it can control clean robot according to acquired ground The position in shape region, which generates, crosses over path, and crosses over path based on described, and the path of crossing over is for making the clean robot Region is crossed over across described.

Specifically, the motion path in motor pattern (can be avoided path and/or cross over path) configuration by clean robot For straight line path, curved path, along one of wall path, bow vee path V, spiral path or a variety of combinations；Clean machine People can configure the motion state in motor pattern to one or more of following behavior or content: deceleration, acceleration, adjustment add Speed (such as adjustment deceleration acceleration), adjustment direction of advance, straight line retreat, (movement starting point is used for required movement starting point Determine the starting point for carrying out avoidance movement), etc..It is subsequent to drive clean robot based on this, realize clean robot in ring Movement in border.

One in the specific implementation, clean robot can according to the map in each barrier cleaning type identification configure landform Region.Specifically, clean robot can be according to the cleaning type identification of barrier each in the map, to each obstacle Object carries out clustering processing, for example will can clean class measurement object and be clustered based on certain rule, can not clean class measurement object It is clustered based on certain rule, class barrier will can be pushed cluster based on certain rule, etc., to obtain one Kind or a variety of purging zones, such as the type of purging zone that is formed in this way may include cleanable area, not cleanable area, can Push one of barrier zone or a variety of.

By setting purging zone, realizes and divide environment based on different cleaning attributive character, then, it is subsequent The cleaning of clean robot in the environment is determined according to one or more purging zones that clean robot can be divided Mode.For example, can control described in the clean robot cleaning when the type of the purging zone of acquisition indicates cleanable area Cleanable area.When the purging zone of acquisition type indicate can not purging zone when, can control the clean robot unclear Sweep the not cleanable area.When the expression of the type of the purging zone of acquisition can push barrier zone, the cleaning can control Barrier in the mobile purging zone of robot, and the region after moving obstacle is cleaned.

Clearing apparatus is driven to adjust the clearing apparatus dependent part specifically, cleaning modes can be configured that by clean robot The cleaning speed of part (such as side sweep, in sweep), the suction for cleaning height, adjusting fan assembly, the spray operation for adjusting water injector At least one of in.It is subsequent that the clearing apparatus can control to implement the cleaning to environment based on this.

The specific implementation process of this step reference may also be made to the description of following Example step 405 and step 407, here no longer It repeats.

Step 204, clean robot drive the clean robot to move according to the motor pattern, and according to described Cleaning modes drive the clean robot to clean.Related content can refer to the description of step 203, and which is not described herein again.

It can be seen that implementing the embodiment of the present application, clean robot establishes positioning and the border map to navigate (such as SLAM Figure) after, measurement object attribute-bit, such as height identification, cleaning type identification can be added to the measurement object in border map.This Sample, the border map established by include based on it is described measurement object region attribute and the region position, the area The attribute in domain includes the type (such as various types of shaped areas, various types of purging zones) in the region.So as to Suitable cleaning strategy (such as motor pattern, cleaning modes) is formulated according to the border map.Both clean robot can be realized It to the cleaning exhaustive of rubbish, improves and cleans coverage rate, and be avoided that clean robot is in jeopardy situation and to ambient enviroment It causes damages, reduces risk or negative effect.To improve the efficiency that clean robot is automatically performed cleaning operation, be promoted The intelligence degree of clean robot and clean effect.

It is described further below provided by the embodiments of the present application another referring to Fig. 7 based on the clean robot being described above Kind maps processing method, as shown in fig. 7, this method includes but is not limited to following steps:

Step 401a, clean robot establishes SLAM map according to the image data of acquisition.

In the specific implementation, being provided with camera 324 in clean robot, camera 324 can acquire at different times works as The image of the front environment of preceding clean robot, it is possible to understand that, due to having measurement object in the environment of front, so being wrapped in the image Include the image data of measurement object.Wherein measurement object described herein includes ground and barrier.

The controller 311 of clean robot further obtains the current point cloud number of measurement object according to the image data of measurement object According to being matched to current point cloud data and history point cloud data (i.e. previous time obtain point cloud data), calculate matching and miss Pose of the smallest pose of difference as current clean robot, thus, clean robot is worked as by SLAM system according to described Preceding point cloud data, the history point cloud data and the pose establish SLAM map.

Step 401b, clean robot establishes SLAM map according to the depth data of measurement object.

In the specific implementation, sensor 326 (for example, RGBD sensor) or camera 324 are configured in clean robot, Clean robot also configures the depth converting unit of example, in hardware or software form.Sensor 326 or camera 324 are for obtaining Image information, depth converting unit is used to the image information being converted to depth information, to obtain the corresponding depth of the image Data (and can be described as current depth data or current depth figure).

The controller 311 of clean robot is further to current depth data and historical depth data (i.e. previous time institute The depth data of the surface point of the measurement object of acquisition) it is matched, the smallest pose of matching error is calculated as current cleaning The pose of robot, thus, clean robot is by SLAM system, according to the current depth data, the historical depth number SLAM map is established according to the pose.

Step 401c, clean robot establishes SLAM map according to the range data of measurement object.

In the specific implementation, being configured with sensor 326 in clean robot, sensor 326 is, for example, laser range sensor, For measuring the distance between the measurement object and clean robot of environment or ambient enviroment in front of clean robot, to be surveyed Measure the current distance data of the surface point of object；

The controller 311 of clean robot further obtains the current point cloud data of measurement object to current distance data, makes It is matched with current point cloud data and history range data (i.e. previous time point cloud data obtained), calculates matching error Pose of the smallest pose as current clean robot.To which clean robot is by SLAM system, according to described current Point cloud data, the history point cloud data and the pose establish SLAM map.

It should be noted that in one embodiment, clean robot can be according to above-mentioned steps 401a, step 401b, step Any scheme in rapid 401c establishes SLAM map.

In another embodiment, clean robot can be according to two in above-mentioned steps 401a, step 401s, step 401c Kind or the combinations of three kinds of schemes establish SLAM map.It, can be by step 401a and step such as in application scenes The scheme of 401b is combined or the scheme of step 401a and step 401c is combined.That is, it is contemplated that Laser Measuring The correlation of the relatively far away from barrier of position cannot be accurately obtained away from sensor or RGBD sensor or infrared obstacle sensor Information, then can also shoot this by camera, barrier obtains image data farther out, is established to promote the application Map accuracy.

Step 402 identifies for measurement object addition each in the SLAM map.The mark for example including height identification and Clean type identification, wherein in the embodiment of the present application, the mark is for example including height identification and cleans type identification.Work as survey When amount object is barrier, the corresponding height identification of barrier is used to indicate the top of barrier and/or the height on distance from bottom ground Degree, or it is used to indicate the top of barrier and/or the height of distance from bottom horizontal plane.When measuring object is ground, ground Height identification can be zero perhaps close to zero or to be used to indicate height of the ground upper limb apart from horizontal plane.The cleaning type Mark is used to indicate the cleaning type of measurement object.

In the specific implementation, determine measurement object height identification before, can first determine measure object object type and Measure the height value of object.

In one embodiment, in this way, can be shot by camera to measurement object in environment, measurement object is obtained, will be surveyed The image of amount object is input in preparatory trained machine learning model, to export the object type of measurement object.Furthermore, it is possible to Embodiment in, the height value of the also exportable measurement object of machine learning model.Wherein, the machine learning model can be volume In product neural network (CNN), deep neural network model (DNN), support vector machines (SVM) or the closest model of K (KNN) It is a kind of.

It should be noted that the height value of measurement object can also obtain by other means, for example pass through cleaning machine The height sensor of people measures measurement object, to obtain the height value of measurement object.

In this way, can the height identification (height identification includes height value) of each measurement object be accordingly tied to built respectively Measurement object (as shown in FIG. 6 barrier 1, barrier 2) in vertical SLAM map.

In the specific implementation, the object type of measurement object can be first determined before the cleaning type identification for determining measurement object, Namely identification measurement object is specifically any object.Then, each measurement is determined according to the object type of each measurement object The corresponding cleaning type of object.The cleaning type is for characterizing can whether measurement object can be cleaned or be pushed.

Wherein, in a possible embodiment, clean robot can be pre-configured with object type and clean pair between type It should be related to, i.e. configuration mapping table.By inquiring mapping table, so that it may determine corresponding cleaning type according to object type.

In another possibility embodiment, clean robot can be pre-configured with trained another machine learning model, the machine Device learning model can be for convolutional neural networks (CNN), deep neural network model (DNN), support vector machines (SVM) or K most One of neighbouring model (KNN).Object type is input to the machine learning model by clean robot, can be obtained corresponding Clean type.

In this way, can be by the cleaning type identification (clean type identification and be used to indicate cleaning type) of each measurement object respectively The measurement object (as shown in FIG. 6 barrier 1, barrier 2) being accordingly tied in established SLAM map.

It should be noted that the related content of this step reference may also be made to the description of embodiment step 202 above, here no longer It repeats.

Measurement object each in the SLAM map is projected two-dimensional surface by step 403, obtains two-dimensional map (or two Tie up border map).

In specific embodiment, the SLAM map established through the above steps may be three-dimensional map (or three-dimensional boundaries Figure), it is possible to be to be subject to Statistical Clustering Analysis to the characteristic point for measuring object location in SLAM map, by the spy with homogenous characteristics Sign point projection two-dimensional surface, to obtain two-dimensional map.That is, the characteristic point of same measurement object projects two-dimensional surface institute The two-dimensional measurement object (or two-dimensional measurement object boundary) of formation is exactly the corresponding measurement object in two-dimensional map of the measurement object.By Each measurement object has corresponding mark (such as height identification cleans type identification) in SLAM map, so, it is generated Each barrier in two-dimensional map equally has corresponding mark.

For example, a kind of SLAM map is schematically illustrated referring to Fig. 6 and Fig. 7, Fig. 6.The SLAM map is three-dimensional Map, the SLAM map include barrier 1, barrier 2 and ground.So can to barrier 1 in SLAM map, barrier 2, The characteristic point on ground is subject to Statistical Clustering Analysis respectively.Fig. 7, which is shown, projects one kind obtained after two-dimensional surface for SLAM map Two-dimensional map, it can be seen that barrier 1, barrier 2, ground in two-dimensional map are the two dimension barrier of formation by projection Hinder object.Barrier 1, barrier 2 in two-dimensional map, ground are respectively provided with respective mark, and such as height identification cleans type mark Know etc..

The embodiment of the present application projects SLAM map to form two-dimensional map, since the measurement object in two-dimensional map includes SLAM The key feature of the measurement object of map, so the two-dimensional map equally may be implemented increment type and build figure, positioning and navigation.May be used also To see, two-dimensional map can be greatly saved the data volume of map, be conducive to improve and build figure, positioning and the efficiency of navigation.

It should be noted that above-mentioned steps 403 may also be held before step 402 in the possible embodiment of the application Row.That is, clean robot first can generate two-dimensional map according to SLAM map, then the measurement object in two-dimensional map is distinguished The corresponding mark of addition.

Step 404, according in the map it is each measurement object height identification, each measurement object is carried out at cluster Reason, obtains one or more shaped areas.

In some embodiments, one or more shaped areas include below one or more: barrier zone；It is rugged Rugged elevated regions；Flat site；Rugged sunk area；Steep cliff region；Empty region under upper reality.

In the specific implementation, can be described as follows about configuration mode of the clean robot to shaped area:

Firstly, the definition of description related notion.Specifically, can be by the distance definition of clean robot highest point to ground Fuselage height；The contact sensor (such as crash sensor) of clean robot is high to the maximum raised obstacle detouring of ground distance definition Degree；The distance value of the ground caved in height is equal to maximum height of surmountable obstacle is considered as maximum recess obstacle clearing capability；By clean robot bottom The half (or other values, such as one third) of disk height is defined as minimum height of projection (or minimum recess heights).

Then, clean robot clusters the barrier in two-dimensional map according to the height identification in two-dimensional map.

It, can be by following rule, to barrier for the physical obstacles (empty object under i.e. non-upper reality) on raised ground It carries out cluster and forms relevant shaped area.

For example, clean robot can by height value (height value be raised ground physical obstacles top to ground Distance, similarly hereinafter) to be greater than the aggregated label of barrier of the raised obstacle clearing capability of maximum of clean robot be " barrier zone ".

For example, height value can be more than or equal to minimum height of projection by clean robot, and it is less than or equal to maximum raised obstacle detouring The aggregated label of the barrier of height is " rugged elevated regions ".

For example, height value can be less than minimum height of projection by clean robot, and height value be greater than or close to 0 obstacle The aggregated label of object is " convex type flat site ".

For the barrier on the ground that is recessed, cluster can be carried out to barrier and form relevant morphologic region by following rule Domain.

For example, clean robot can be by height value (if the height value of recess type objects is indicated with negative value, here Height value is the absolute value of the height value of recess type objects, which indicates the top to ground of the barrier on recess ground Distance, similarly hereinafter) be less than minimum recess heights, and height value be greater than or close to the aggregated label of 0 barrier be that " recess class is flat Smooth region ".

It should be understood that the corresponding shaped area in ground described herein may belong to convex type flat site or recessed Fall into class flat site.

For example, height value can be more than or equal to minimum recess heights by clean robot, and it is less than or equal to maximum recess obstacle detouring The aggregated label of the barrier of height is " rugged sunk area ".

For example, height value can be greater than the collection of the barrier of the maximum recess obstacle clearing capability of clean robot by clean robot It closes and is labeled as " steep cliff region ".

It should be noted that in a possible embodiment, above-mentioned rugged elevated regions and rugged sunk area can also be united Referred to as " rough areas "；In possible embodiment, above-mentioned convex type flat site and recess class flat site can also be referred to as " sunk area ".

For empty class barrier under upper reality, cluster can be carried out to barrier and form relevant morphologic region by following rule Domain.

For example, clean robot can (height value be that the bottom of empty class barrier under upper reality is flat by the height value of barrier Face to ground distance, similarly hereinafter) to be greater than the aggregated label of barrier of the fuselage height of clean robot be " upper real lower dead zone Domain ".

For example, the height value of barrier can be less than the collection of the barrier of the fuselage height of clean robot by clean robot It closes and is labeled as " barrier zone ".

Referring to Fig. 8, Fig. 8 is the schematic diagram that the configuration mode based on above-mentioned shaped area divides two-dimensional map, can To see, in this scenario, two-dimensional map has been partitioned into a plurality of types of shaped areas, such as rugged elevated regions, flat region Empty region, barrier zone etc. under domain, rugged sunk area, steep cliff region, upper reality, the quantity of each type of shaped area can To be that one kind is also possible to a variety of (there are many barrier zones in as shown), here with no restrictions.

It should be noted that the related shaped area in this step is merely exemplary, it in practical applications, can also basis Other rules configure more or fewer shaped areas.

(such as fuselage height, chassis height, sensor) is configured in conjunction with the fuselage of clean robot, ground is divided into Different types of region can make clean robot more intelligentized can meet cleaning machine according to different types of regional planning The motion path of people's self performance, to improve sweeping efficiency.

Step 405, according to one or more shaped areas, formulate the motor pattern of the clean robot.It is described Motor pattern is used to indicate the motion path of the clean robot and the motion state of the clean robot.

Specifically, clean robot can configure straight line path, curved path, Yan Qiang for the motion path in motor pattern One of path, bow vee path V, spiral path or a variety of combinations；Clean robot can be by the movement shape in motor pattern State is configured to one or more of following behavior or content: (for example adjustment is slowed down and is accelerated for deceleration, acceleration, adjustment acceleration Degree), adjustment direction of advance, straight line retreat, required movement starting point (movement starting point for determine carry out avoidance movement starting Point), etc..Based on this, the subsequent wheel arrangement for driving clean robot realizes the movement of clean robot in the environment.

For example, in scene shown in Fig. 8, clean robot at programming movement path, can integrate flat site, on Real lower empty region, rugged sunk area, the respective attribute of rugged elevated regions carry out path planning, to make the movement after planning Path obstacle avoidance region and steep cliff region as far as possible are stuck or are avoided to avoid barrier damage object or clean machine People.

Again for example, in clean robot during traveling, if detection advance front exist " steep cliff region " or When " barrier zone ", clean robot pre-decelerating can control, and avoid these shaped areas using suitable path, such as adjust The direction of motion avoids clear far from these shaped areas, or using being moved along wall mode along the edge of these shaped areas Clean robot touches these shaped areas, and continues cleaning task.

Again for example, in clean robot during traveling, when if detection is advanced there is " rough areas " in front, Controllable clean robot Pre-handoff is obstacle detouring mode, that is to say, that clean robot can take specific motion path (such as Curved path or combinatorial path) or change wheel arrangement movement rate and power, by attempt in a manner of leap by should Rough areas.It should be noted that if clean robot is by repeatedly trial still can not be by the rough areas, then may be used also Region is re-flagged into barrier zone, when next time, cleaning was passed through in this way, controllable clean robot avoids this region in time, mentions High sport efficiency.

Again for example, when clean robot executes autonomous return charging, clean robot can plan most short movement road Diameter, and the barrier in shortest path first is served as in " steep cliff region ", " barrier zone ".That is, clean robot can root According to other shaped areas in two-dimensional map in addition to " steep cliff region ", " barrier zone ", finds most suitable motion path and return It returns, wherein shortest path first is, for example, the deformation of A* shortest path first, D* shortest path first or algorithm above.

Step 406, according in the map it is each measurement object cleaning type identification, each measurement object is gathered Class processing, obtains one or more purging zones.

In some embodiments, it for measurement object each in map, is surveyed if the cleaning type identification marked is indicated The cleaning type of amount object be can clean class measure object, can not clean class measure object, can push obstacle class measure one of object or It is a variety of, then, by the clustering processing to measurement object, it is formed by purging zone and corresponds to including cleanable area, can not clean Region can push one of barrier zone or a variety of.

It is intelligible, in application scenes, if the subdivision of type further progress will be cleaned, purging zone Type also by correspondence is segmented.

For example, can clean class measurement object be subdivided into strength clean class measurement object (such as small particle rubbish, paper scrap are difficult to clearly The object swept), it is slight clean class measurement object (such as feet, chair leg supporting object), emphasis cleans class and measures object (such as corner, bed Side etc.), it is common clean class measurement object (such as furniture, household electrical appliances object), then cleanable area can also be further subdivided by force Power purging zone, slight purging zone, emphasis purging zone, common purging zone, etc..

For example, can not clean class measurement object can be further subdivided into: forbidding cleaning class measurement object (such as electric wire, socks Easily be involved in object), need far from class measurement object (the easily broken object of such as vase), then cleanable area can not segment further Are as follows: forbidden purging zone is needed far from purging zone, etc..

Referring to Fig. 9, Fig. 9 is the schematic diagram that the configuration mode based on above-mentioned purging zone divides two-dimensional map, can To see, in this scenario, two-dimensional map has been partitioned into a plurality of types of purging zones, and such as cleanable area can not clean Region can push barrier zone etc., the quantity of each type of purging zone can be one kind be also possible to it is a variety of (as shown In there are many cleanable area and a variety of not cleanable areas), here with no restrictions.

It should be noted that the related purging zone in this step is merely exemplary, it in practical applications, can also basis Other rules configure more or fewer purging zones.

It should also be noted that, in the application specific embodiment, the shaped area divided based on two-dimensional map and cleaning There is no inevitable positional relationship between region.That is, certain shaped area may not be overlapped with certain purging zone or part Overlapping or all overlapping, here without limitation.

Step 407, according to one or more purging zones, formulate the cleaning modes of the clean robot. The cleaning modes are used to indicate the working condition of the clearing apparatus of the clean robot.

For different purging zones, clean robot can carry out different cleaning modes according to the attribute of purging zone and match It sets.

For example, for cleanable area, corresponding cleaning modes be can be configured to: drive clearing apparatus to adjust this clear The cleaning speed of sweeping device associated components (such as side sweep, in sweep), adjusts water spray dress at the suction for cleaning height, adjusting fan assembly At least one of in the spray operation set, to implement the cleaning to the barrier in the region.

For example, clean robot can actively reduce walking rate and improve the clear of clearing apparatus for strength purging zone Clean power (increasing suction, reduce side brush revolving speed etc.).

For example, for not cleanable area, corresponding cleaning modes be can be configured to: driving clearing apparatus to adjust should The cleaning speed of the adjusting clearing apparatus of clearing apparatus associated components (such as side sweep, in sweep) cleans height and adjusts fan assembly Suction at least one of, to avoid the barrier being swept into the region.

For example, for that can push purging zone, corresponding cleaning modes be can be configured to: clean robot execution can Push and clean path, and actively reduces movement velocity, and attempt promotion can push the barrier in purging zone move one section away from From.If front obstacle is pushed, recordable barrier is passed front/rear position.It is subsequent to complete current region cleaning Afterwards, also the barrier can be back into original position.

It should be noted that can be needed to configure according to actual cleaning corresponding with purging zone in concrete application scene Specific cleaning modes, the application not concrete restriction.

It should also be noted that, not having between above-mentioned steps 404- step 405 and step 406- step 407 inevitable Sequencing.That is, step 404- step 405 can execute before with step 406, step 404- step 405 can be It is executed with after step 407, step 404- step 405 synchronous can also be executed with step 406- step 407, not limited here It is fixed.

It should also be noted that, above-mentioned steps 404- step 405 and the related content of step 406- step 407 can also join The associated description of literary step 203 before examination, which is not described herein again.

Step 408 drives the clean robot to move and driven according to the cleaning modes according to the motor pattern Clean the clean robot.Specific implementation process can refer to above-mentioned steps 405, the associated description of step 407, here no longer It repeats.

It can be seen that implementing the embodiment of the present application, clean robot can generate two-dimensional map according to SLAM map, and to two It ties up the barrier in map and adds barrier attribute-bit, such as height identification, cleaning type identification.In this way, the side established Boundary's map by include based on it is described measurement object region attribute and the region position, the attribute in the region includes institute State the type (such as various types of shaped areas, various types of purging zones) in region.It is subsequent can according to it is described two-dimensionally Figure formulates suitable cleaning strategy (such as motor pattern, cleaning modes).Both clean robot can have been realized to the cleaning nothing of rubbish It omits, improves and clean coverage rate, and be avoided that clean robot is in jeopardy and situation and cause damages to ambient enviroment, reduce wind Danger or negative effect.To improve the efficiency that clean robot is automatically performed cleaning operation, improve the intelligence of clean robot Degree can be changed and clean effect.

It should be noted that those of ordinary skill in the art will appreciate that whole in the various methods of above-described embodiment or Part steps are relevant hardware can be instructed to complete by program, which can store in a computer-readable storage In medium, storage medium includes read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable compile Journey read-only memory (Erasable Programmable Read Only Memory, EPROM), the read-only storage of disposable programmable Device (One-time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only storage (Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, tape storage Device or any other the computer-readable medium that can be used in carrying or storing data.

In the above-described embodiment, it all emphasizes particularly on different fields to the description of each embodiment, is not retouched in detail in some embodiment The part stated, reference can be made to the related descriptions of other embodiments.

In several embodiments provided herein, 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, each functional unit in each embodiment of the application can integrate in 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, the technical solution of the application 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 application The all or part of the steps of example the method.And storage medium above-mentioned include: USB flash disk, it is mobile hard disk, read-only memory, random Access the various media that can store program code such as memory, magnetic or disk.

It is described in detail above to disclosed in the embodiment of the present application, specific case used herein is to the application's Principle and embodiment is expounded, the present processes that the above embodiments are only used to help understand and its core Thought；At the same time, for those skilled in the art, according to the thought of the application, in specific embodiment and application range Upper there will be changes, in conclusion the contents of this specification should not be construed as limiting the present application.

Claims

1. a kind of clean robot, which is characterized in that the clean robot includes:

Controller, for establishing the autonomous positioning of the clean robot and the border map of navigation, the border map includes The attribute in the region based on the measurement object and the position in the region, wherein the attribute in the region includes the class in the region Type；

Memory, for storing the border map；

The controller is also used to control the clean robot according to the border map.

2. clean robot according to claim 1, which is characterized in that the clean robot further include: highly sensing Device, for sensing the height of the measurement object；

Wherein the measurement object includes region on ground, and the border map includes the elevation information based on region on the ground The type of the shaped area of configuration, the shaped area are used to indicate the movement of clean robot.

3. clean robot according to claim 2, which is characterized in that the controller is specifically used for: by the height Height indicated by information is compared with the height threshold of pre-configuration, determines the class of the shaped area in region on the ground Type；

Wherein, the height threshold of the pre-configuration comprises at least one of the following: maximum obstacle detouring height of projection, maximum obstacle detouring recess are high Degree, minimum height of projection, minimum recess heights, the fuselage height of the clean robot, the chassis of the clean robot are high Degree.

4. clean robot according to claim 1, which is characterized in that the measurement object includes barrier, the boundary Map includes the type of the purging zone for cleaning attribute and the cleaning attribute configuration based on the barrier of the barrier, institute State the cleaning that purging zone is used to indicate clean robot.

5. clean robot according to claim 1, which is characterized in that the clean robot further includes acquisition device, The acquisition device is used to acquire the image of measurement object, and the image of the measurement object includes the feature of the surface point of the measurement object Data；

The controller is specifically used for:

According to the characteristic, the current point cloud data of the measurement object is obtained；

Characteristic matching is carried out using the current point cloud data and history point cloud data, obtains the pose number of the clean robot According to；

According to the current point cloud data, the history point cloud data and the pose data, the border map is established.

6. clean robot according to claim 5, which is characterized in that the characteristic packet of the surface point of the measurement object Include the combination of one or more of: the image data of the surface point, the depth data of the surface point, the surface point with The distance between clean robot data.

7. clean robot according to any one of claim 1 to 6, which is characterized in that the controller is specifically used for:

According to the border map, one or more shaped areas are obtained；

Determine that motor pattern, the motor pattern are used to indicate the clean robot according to one or more shaped areas Motion path and the clean robot motion state；

According to the motor pattern, the clean robot is controlled.

8. clean robot according to claim 7, which is characterized in that the controller is specifically used for:

Type from the shaped area in the direction of advance for obtaining the clean robot in the border map；

When the type of the shaped area of acquisition indicates avoidance zone, the controller is according to the position of acquired shaped area It generates and avoids path；And it is based on the avoidance path, it controls the clean robot and avoids acquired shaped area；

When the type of the shaped area of acquisition is indicated across region, the controller is according to the position of acquired shaped area It generates and crosses over path；And path is crossed over based on described, the clean robot is controlled across acquired shaped area.

9. clean robot according to any one of claim 1 to 8, which is characterized in that the controller is specifically used for:

One or more purging zones are obtained from the border map；

Determine that cleaning modes, the cleaning modes are used to indicate the clean robot according to one or more purging zones Clearing apparatus working condition；

According to the cleaning modes, the clean robot is controlled.

10. according to the described in any item clean robots of claim 9, which is characterized in that the controller is specifically used for:

From the type of the purging zone in the direction of advance for obtaining the clean robot in the border map；

When the type of the purging zone of acquisition indicates cleanable area, controls the clean robot and clean acquired cleaning Region；

When the expression of the type of the purging zone of acquisition can push barrier zone, the mobile cleaning of the clean robot is controlled Barrier in region, and the region after moving obstacle is cleaned.

11. a kind of maps processing method, which is characterized in that the method is applied to clean robot, comprising:

The autonomous positioning of the clean robot and the border map of navigation are established, the border map includes being based on the measurement The position in the attribute in the region of object and the region, wherein the attribute in the region includes the type in the region；

Store the border map；

According to the border map, the clean robot is controlled.

12. according to the method for claim 11, which is characterized in that the autonomous positioning for establishing the clean robot and Before the border map of navigation, further includes: the height of the sensing measurement object；

Correspondingly, the autonomous positioning for establishing the clean robot and the border map of navigation, specifically: according to the survey The height for measuring object, establishes the autonomous positioning of the clean robot and the border map of navigation；

13. according to the method for claim 12, which is characterized in that the method also includes:

Height indicated by the elevation information is compared with the height threshold of pre-configuration, determines region on the ground The type of shaped area；

14. according to the method for claim 11, which is characterized in that the measurement object includes barrier, the border map The type of the purging zone for cleaning attribute and the cleaning attribute configuration based on the barrier including the barrier, it is described clear Sweep the cleaning that region is used to indicate clean robot.

15. according to the method for claim 11, which is characterized in that the autonomous positioning for establishing the clean robot and Before the border map of navigation, further includes: the image of acquisition measurement object；The image of the measurement object includes the table of the measurement object The characteristic of millet cake；

Correspondingly, the border map according to the autonomous positioning and navigation of establishing the clean robot, specifically includes:

16. according to the method for claim 15, which is characterized in that it is described measurement object surface point characteristic include with Under one or more combination: the image data of the surface point, the depth data of the surface point, the surface point with it is described The distance between clean robot data.

17. method described in any one of 1 to 16 according to claim 1, which is characterized in that it is described according to the border map, Control the clean robot, comprising:

According to the border map, one or more shaped areas are obtained；

According to the motor pattern, the clean robot is controlled.

18. 7 described in any item methods according to claim 1, which is characterized in that the method specifically includes:

19. method described in any one of 1 to 18 according to claim 1, which is characterized in that it is described according to the border map, Control the clean robot, comprising:

One or more purging zones are obtained from the border map；

According to the cleaning modes, the clean robot is controlled.

20. 9 described in any item methods according to claim 1, which is characterized in that the method specifically includes:

21. a kind of computer readable storage medium, which is characterized in that be stored with program on the computer readable storage medium and refer to It enables, described program instruction is performed the method realized as described in any one of claim 11-20.