CN110477825A - Clean robot, recharging method, system and readable storage medium storing program for executing - Google Patents

Clean robot, recharging method, system and readable storage medium storing program for executing Download PDF

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Publication number
CN110477825A
CN110477825A CN201910811775.XA CN201910811775A CN110477825A CN 110477825 A CN110477825 A CN 110477825A CN 201910811775 A CN201910811775 A CN 201910811775A CN 110477825 A CN110477825 A CN 110477825A
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CN
China
Prior art keywords
clean robot
cradle
image
area
distance
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Granted
Application number
CN201910811775.XA
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Chinese (zh)
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CN110477825B (en
Inventor
刘煜熙
李浩明
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Shanghai Flyco Electrical Appliance Co Ltd
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Shenzhen Feike Robot Co Ltd
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Priority to CN201910811775.XA priority Critical patent/CN110477825B/en
Publication of CN110477825A publication Critical patent/CN110477825A/en
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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

The present invention discloses a kind of recharging method, is applied in clean robot, the clean robot includes the image acquisition units for acquiring current environment image；The recharging method controls the clean robot and moves along preset direction comprising steps of when determining that the clean robot is in first area range；When determining that the clean robot is in second area range, the location information of cradle is determined based on the image acquired within the scope of the second area；And the clean robot is controlled according to the positional information be moved to the cradle and charge；Wherein, the second area range is than the first area range closer to the cradle.The present invention also provides a kind of recharging system, clean robot and readable storage medium storing program for executing.The present invention can reduce the noise jamming of operand and reduction imaging sensor of the clean robot during recharging, and improve positioning accuracy.

Description

Clean robot, recharging method, system and readable storage medium storing program for executing
Technical field
The present invention relates to technical field of robot control more particularly to a kind of clean robots, recharging method, autonomous Charging system and readable storage medium storing program for executing.
Background technique
With the development of technology, clean robot has been more and more widely used.Wherein, it is automatically positioned and recharges automatically It is the important feature of clean robot.Scheme used by recharging automatically at present is there is charging around determining clean robot When seat, the location information of cradle is determined, and guide clean robot to be moved to charging according to the location information of cradle in real time On seat, to charge for it.However, this method needs robot ceaselessly location navigation, and then cause to battery capacity It consumes larger.
Summary of the invention
The embodiment of the present invention discloses a kind of clean robot, recharging method, recharging system and readable storage medium Matter, to solve the above problems.
In order to solve the above-mentioned technical problem, in a first aspect, the present invention provides a kind of clean robot, comprising:
Image acquisition units, for acquiring the image of current environment；
Processing unit, for controlling the cleaning machine when determining that the clean robot is in first area range People moves along preset direction；
When determining that the clean robot is in second area range, based on what is acquired within the scope of the second area Image determines the location information of cradle, and controls the clean robot according to the positional information and be moved to the cradle It charges；Wherein, the second area range is than the first area range closer to the cradle.
Second aspect, the present invention provide a kind of recharging method, are applied in clean robot, the recharging side Method comprising steps of
Acquire current environment image；
When determining that the clean robot is in first area range, the clean robot is controlled along preset direction Movement；
When determining that the clean robot is in second area range, based on what is acquired within the scope of the second area Image determines the location information of cradle；And
The clean robot is controlled according to the positional information be moved to the cradle charge；Wherein, described Second area range is than the first area range closer to the cradle.
The third aspect, the present invention provide a kind of recharging system, including cradle, and the recharging system further includes Clean robot described in first aspect.
Fourth aspect, the present invention provide a kind of readable storage medium storing program for executing, are stored on the computer readable storage medium certainly The corresponding program of main charging method, the corresponding program of the recharging method, which is performed, to be realized described in second aspect certainly Main charging method.
5th aspect, the present invention also provides a kind of clean robot, the clean robot includes at least one module, should At least one module can be used to implement method described in aforementioned second aspect.
6th 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 second aspect the method.
Clean robot, recharging method, recharging system and readable storage medium storing program for executing of the invention, described in determination When clean robot is in first area range, controls the clean robot and moved along preset direction, it is described clear determining When clean robot is in second area range, the position of cradle is determined based on the image acquired within the scope of the second area Information, and control the clean robot according to the positional information and be moved to the cradle and charge.Due to described Two regional scopes are than the first area range closer to the cradle.Compared to the existing real-time positioning recharged in technology It navigates, when the scheme in the application is that the determining clean robot is in the second area range closer from charging pile, just really Determine the location information of cradle, and then reduce operand, and avoid sensor noise interference, to reduce cleaning machine The energy consumption that people generates during recharging because real-time self poisoning navigates.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached Figure.
Fig. 1 is the structural block diagram of the clean robot in one embodiment of the invention.
Fig. 2A is the schematical top view of the clean robot in one embodiment of the invention.
Fig. 2 B is the bottom schematic view of the clean robot in one embodiment of the invention.
Fig. 3 is the configuration diagram of the recharging system in one embodiment of the invention.
Fig. 4 is the structural block diagram of the main body base in one embodiment of the invention.
Fig. 5 is the region of search schematic diagram of the clean robot in one embodiment of the invention.
Fig. 6 is the distance between clean robot and cradle in one embodiment of the invention schematic diagram.
Fig. 7 is the step flow chart of the recharging method in one embodiment of the invention.
Fig. 8 is the step flow chart of the recharging method in another embodiment of the present invention.
Fig. 9 is the step flow chart of the recharging method in yet another embodiment of the invention.
Figure 10 is the structural block diagram of the clean robot in another embodiment of the present invention.
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.
Refering to fig. 1, one embodiment of clean robot provided by the present application includes: image acquisition units 110, battery list First 120, driving unit 130, revolver 131, right wheel 132, directive wheel 133, cleaning unit 140, processing unit 150, storage unit 160, detection of obstacles unit 170.
Image acquisition units 110 are used to acquire the image of clean robot current environment.Image acquisition units 110 include, One or more camera in two-dimentional camera, three-dimensional camera.For example, a two-dimentional camera can be placed in cleaning The upper surface of robot, and acquire the image above clean robot, that is, the image of the ceiling to working space.
For another example a three-dimensional camera is placed in the front of clean robot, and acquire what clean robot was checked 3-D image, as shown in Figure 2 A.3-D image includes about the distance from object to be collected to the two dimensional image of object to be collected Information.It can be using stereoscopic camera module or depth transducer module as three-dimensional camera.
Image acquisition units 110 may include depth transducer 111, RGB image sensor 112 or structure light image sensing One or more of device 113.
Depth transducer includes: two-dimentional camera, acquires the image of object to be collected；And infrared sensor, to Object to be collected irradiates infrared ray, and detects the size from the infrared ray of object reflection to be collected, to measure two dimensional image In object to be collected distance.And depth transducer exports the image of two-dimentional camera acquisition and infrared sensor obtains Range information.
RGB sensor 112 can shoot RGB image, and RGB image is also referred to as color image.Such as utilize RGB sensor pair Charging pile is shot to obtain the RGB image including charging pile.
Structure light image sensor 113 includes infrared ray transceiving mould group.For example, infrared ray transceiving mould group can measure to obtain Distance of the clean robot to charging pile.The 3-D image of charging pile is generated according to the distance of clean robot to charging pile.
Wherein stereo camera shooting head module includes multiple two-dimentional cameras, and uses the image of multiple two-dimentional camera acquisitions Between difference determine the range information about object to be collected.Moreover, the output of stereo camera shooting head module is about multiple two dimensions The information of the distance between one of the image of camera acquisition object to be collected.
Image acquisition units 110 may further include graphics processing unit, as needed the image of processing acquisition.Such as Change the size or resolution ratio of the image of camera acquisition.
Battery unit 120 includes the electrode of rechargeable battery, the charging circuit and rechargeable battery that connect respectively with rechargeable battery. The quantity of rechargeable battery is one or more, electric energy needed for rechargeable battery can provide operation for clean robot.Electrode can Fuselage side or the fuselage bottom of clean robot is arranged in.Battery unit 120 can also include battery parameter detection group Part, battery parameter detection components are for detecting battery parameter, for example, voltage, electric current, battery temperature etc..In clean robot Operating mode is switched to when recharging mode, and clean robot begins look for charging pile, and is filled using charging pile for clean robot Electricity.
Driving unit 130 includes the motor for applying driving force.Driving unit 130 connects cleaning unit 140, revolver 131, right wheel 132 and directive wheel 133.Under the control of processing unit 150, driving unit 130 can drive cleaning unit 140, Revolver 131, right wheel 132 and directive wheel 133.Alternatively, driving unit 130 is including cleaning driving subelement, revolver drives subelement, Right wheel drives subelement and guiding wheel drive unit, cleans driving subelement and connect with cleaning unit 140, revolver drives subelement It is connect with revolver 131, right wheel driving subelement is connect with right wheel 132, and guiding wheel drive unit is connect with directive wheel 133.
Revolver 131 and right wheel 132 (wherein revolver, right wheel are referred to as travel wheel, driving wheel) are respectively with symmetrical side Formula is centrally disposed in the opposite side of the bottom of the machine body of clean robot.Execute during executing cleaning includes transporting forward Motor performance that is dynamic, moving and rotate backward.Directive wheel 133 may be provided at machine body front or rear portion.
As shown in Figure 2 B, cleaning unit 140 includes: main brush 141 and one or more side brush 142.Main brush is mounted on clear The organism bottom of clean robot.Optionally, main brush 141 is that the cydariform rotated with roller type relative to contact surface turns brush.Side brush 142 It is mounted on the left and right edges part of the front end of the bottom surface of clean robot.That is, side brush 142 is installed substantially at multiple travel wheels Front.The purging zone that side brush 142 cannot be cleaned for cleaning main brush 141.Moreover, side brush 142 can not only rotate in place, and And can be installed to be to the external prominent of clean robot, so that the region of clean robot cleaning can be expanded.
Detection of obstacles unit 170 is for detecting the side environment of clean robot, to find barrier, wall The environmental objects such as face, step and the charging pile for charging to clean robot.Detection of obstacles unit 170 be also used to The various positions information and movement state information of control module offer clean robot.Detection of obstacles unit 170 may include hanging Precipice sensor, ultrasonic sensor, infrared sensor, magnetometer, three axis accelerometer, gyroscope, odometer, LDS, ultrasonic wave pass Sensor, camera, Hall sensor etc..The present embodiment is not construed as limiting the number of detection of obstacles unit 170 and position.
Processing unit 150 is arranged on the intracorporal circuit board of machine of clean robot, can be according to detection of obstacles unit The information of the ambient enviroment object of 170 feedbacks and preset location algorithm, draw the instant map of clean robot local environment. Processing unit 150 can also according to steep cliff sensor, ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, The working condition that the range information and velocity information comprehensive descision clean robot of the devices such as odometer feedback are presently in.Processing Unit 150 can be by one or more application specific integrated circuit (ASIC), digital signal processing unit (DSP), digital signal It is processing equipment (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), controller, microcontroller, micro- Processing unit or other electronic components are realized, for executing the recharging method in the embodiment of the present disclosure.
For storing instruction and data, the data include but is not limited to storage unit 160: map datum, control cleaning The ephemeral data generated when robot manipulation, such as position data, the speed data of clean robot.Processing unit 150 can To read the corresponding function of the instruction execution stored in storage unit 160.Storage unit 160 may include random access memory list First (Random Access Memory, RAM) and non-volatile memory cells (Non-Volatile Memory, NVM).It is non-easy The property lost storage unit may include hard disk drive (Hard Disk Drive, HDD), solid state hard disk (Solid State Drives, SSD), silicon disk driver (Silicon disk drive, SDD), read-only memory unit (Read-Only Memory, ROM), CD-ROM (Compact Disc Read-Only Memory, CD-ROM), tape, floppy disk, light data deposits Store up equipment etc..
It is understood that in one or more embodiment, clean robot can also include input-output unit, Location measurement unit, wireless communication unit, display unit etc..
Fig. 2A and 2B is respectively schematic diagram of the clean robot 10 in two different perspectivess.As shown in Figure 2 A, Image Acquisition The side of clean robot 10 is arranged in unit 110, for acquiring front ambient image.As shown in Figure 2 B, clean robot 10 Bottom be provided with revolver 131, right wheel 132, directive wheel 133, cleaning unit 140, battery unit 120.Cleaning unit 140 includes Main brush 141 and side brush 142.The rechargeable battery in battery unit 120 is encapsulated in the inside of clean robot 10 with capping, is prevented Only it falls.One in the electrode 121 and electrode 122 of rechargeable battery is anode, another is cathode.
It should be noted that the connection relationship between each unit or component in clean robot be not limited to it is shown in FIG. 1 Connection relationship.For example, can be connected by bus between processing unit 150 and other unit or assemblies.
It should be noted that clean robot can also include other unit or assemblies, alternatively, only including that above-mentioned part is single Member or component, the present embodiment are not construed as limiting this, are only illustrated by taking above-mentioned clean robot as an example.
It is the configuration diagram of the recharging system 900 in one embodiment of the invention referring again to Fig. 3.Such as Fig. 3 institute Show, the recharging system 900 includes clean robot 10 and cradle 800.The cradle 800 is used to be the cleaning Robot 10 charges, that is, when the clean robot 10 is moved on the cradle 800, the clean robot 10 can To be electrically connected with the cradle 800 realization, so that the cradle 800 can be filled for the clean robot 10 Electricity.In the present embodiment, the clean robot 10 is substantially in disk form.In other embodiments, the cleaning machine People 10 can also be other shapes, such as rectangular, it is not limited here.
Specifically, the cradle 800 includes pedestal 810 and the main body base 820 being connected with the pedestal.In this reality It applies in mode, the pedestal 810 is vertical with main body base 820 to be connect.Specifically, the pedestal 810 is from the bottom of main body base 820 The structure vertically extended.In the present embodiment, pedestal 810 is an integral molding structure with main body base 820, in other embodiments In, the main body base 820 can also otherwise be connected with the pedestal 810, for example, by the modes such as welding, being bonded It is connected, it is not limited here.Obviously, in other embodiments, the pedestal 810 can also tilt with the main body base 820 and connect It connects.
In some embodiments, the pedestal 810 is plate structure, to vertically extend with from the bottom of main body base 820 Bottom plate.That is, the extending direction of the pedestal 810 is parallel to the ground when cradle 800 is placed in ground.
Two charging electrode pieces 811 are arranged at intervals on the pedestal 810, one of charging electrode piece 811 is anode Charging electrode piece, another charging electrode piece 811 are cathode charging electrode piece.When clean robot 10 is moved to the pedestal When on 810, described two electrodes 121/122 are in electrical contact respectively with described two charging electrode pieces 811, and then realize the cleaning Robot 10 is electrically connected with the cradle 800.Wherein, the bottom of clean robot 10 refers to when clean robot 10 is placed on Towards the part on ground when being cleaned on ground.It is appreciated that in other embodiments, the charging electrode piece 821 is also It can be set on main body base 820, it is not limited here.
As shown in figure 3, in some embodiments, described two charging electrode pieces 811 are that protrusion is set on pedestal 810, There are two recess portion, 10 two electrodes 121/122 of clean robot are to set respectively for the bottom interval setting of the clean robot 10 It is placed in corresponding recess portion, when clean robot 10 is moved on the pedestal 810, described two charging electrode pieces 811 divide It Pei He not be contained in two recess portions of the bottom of clean robot 10.To, can maintain clean robot 10 and pedestal 810 it Between it is relatively fixed, and improve the stability of charging connection.
In further embodiments, the clean robot 10 can also be not provided with the recess portion, and the two of the cradle 800 A charging electrode piece 811 can retract in pedestal 810 when by external force, and be elastic recovery to when being not affected by external force and protrude from bottom The state of seat 810.When clean robot 10 is moved on the pedestal 810, two charging electrode pieces of the cradle 800 811 are retracted to pedestal under the pressure effect of clean robot 10, due to the effect of elastic-restoring force, the two of cradle 800 A charging electrode piece 811 is closely contradicted with two electrodes 121/122 of clean robot 10 and is electrically connected.To improve electricity The stability of contact.
Wherein, spring can be respectively set in the lower of described two charging electrode pieces 811, and realizes described two charging electrodes Piece 811 retracts in pedestal 810 when by external force, and the state for protruding from pedestal 810 is elastic recovery to when being not affected by external force. Wherein, the spring can be helical spring, elastic slice etc., and the spring can wrap up insulating materials, and avoid filling to described two Electric electrode slice 811 electrically impacts, and improves charging security.
Cradle mark 821 is provided on the main body base 820.In some embodiments, the cradle mark 821 is Including the pattern that can be identified.Wherein, the pattern includes one of point, line, surface, color or multiple combinations.Preferably, it is The detection effect of the raising cradle mark 821, the pattern can be including replacing institute group by black and white grid At matrix pattern.In some embodiments, the cradle mark 821 can also be the figure with specific contents such as lightning symbols Case etc..
Referring again to Fig. 4, in some embodiments, charging circuit 822 is provided in the main body base 820, it is described to fill Circuit 822 is electrically connected with charging electrode piece 811, and the charging circuit 822 is for exporting charging voltage and charging current to filling Electric electrode slice 811, to be moved on the pedestal 810 and two electricity of the clean robot 10 in the clean robot 10 When pole 121/122 and described two charging electrode pieces 811 are in electrical contact respectively, by charging electrode piece 811 export charging voltage and Charging current is the charging of clean robot 10.
In some embodiments, charging interface 823, the charging circuit 822 are also provided on the main body base 820 Also it is electrically connected with the charging interface 823, when the charging interface 823 is electrically connected with mains supply by power supply line, institute It states charging circuit 822 and the electric energy of mains supply is converted into suitable charging voltage and charging current.
In some embodiments, battery 824 is additionally provided in the main body base 820, the charging circuit 822 is gone back and battery 824 connections, the charging circuit 822 are used for when charging interface 823 is electrically connected with mains supply, and the electric energy of mains supply is turned Suitable charging voltage and charging current is changed to charge for the charging of battery 824, and for clean robot 10.The charging circuit 822 are also used to be not connected with mains supply in charging interface 823, and have clean robot 10 to be moved on the pedestal 810 and need When charging, the electric energy of battery 824 is converted into suitable charging voltage and charging current is that clean robot 10 charges.
To which due to being provided with battery 824 in the cradle 800, the cradle 800 can be used as a mobile power source And place and charge at an arbitrary position to clean robot 10, improve flexibility and convenience.
Specifically, the processing unit 150 is used for for determining that the clean robot 10 is in first area range When, it controls the clean robot 10 and is moved along preset direction；Determining that the clean robot 10 is in second area model When enclosing, the location information of cradle 800 is determined based on the image acquired within the scope of the second area, and according to the position The information control clean robot 10 is moved to the cradle 800 and charges.Wherein, the second area range compares institute First area range is stated closer to the cradle.
Clean robot 10 provided by the embodiment of the present invention are determining that the clean robot is in first area range When, it controls the clean robot and is moved along preset direction, determining that the clean robot 10 is in second area range When, the location information of cradle 800 is determined based on the image acquired within the scope of the second area, and believe according to the position The breath control clean robot 10 is moved to the cradle 800 and charges.As described in the second area range ratio First area range is closer to the cradle.Compared to the existing real-time location navigation recharged in technology, in the application When scheme is that the determining clean robot 10 is in the second area range closer from charging pile, the position of cradle is just determined Information, and then reduce operand, and avoid sensor noise interference, so that reducing clean robot 10 is recharging process The middle energy consumption generated by the navigation of real-time self poisoning, improves the time that uses of clean robot 10, while also improving The service life of battery.
In the present embodiment, the preset direction is the direction moved towards the cradle 800, in this way, can subtract The time required for process is recharged less.
In some embodiments, described image acquisition unit 110 is used to acquire the image of current environment.The processing is single Member 150 is also used to before determining that the clean robot 10 is in first area range or second area range, according to image The image that acquisition unit 110 acquires whether there is cradle 800 around determining.
In some embodiments, the processing unit 150 determines surrounding according to the image that image acquisition units 110 acquire With the presence or absence of cradle 800, comprising: the processing unit 150 controls the clean robot 10 and rotates in place, and is rotating through The image of current environment is acquired in journey by described image acquisition unit 110.When the processing unit 150 is from the image of acquisition When identifying the cradle 800, determine that there are the cradles 800 around the clean robot 10.Wherein, described to fill The image of electric seat 800 can also identify 821 figure by the image recognition of cradle 800 itself by the cradle As identifying.Due to the relative positional relationship of the cradle 800 and cradle mark 821 be it is determining, when identifying The image of cradle 800 can be calculated after the image of cradle mark 821.
In some embodiments, in order to improve the accuracy of detection and reduce rotation need time, the processing Unit 150 controls the clean robot 10 and rotates in place, and is acquired in rotary course by described image acquisition unit 110 The image of current environment, comprising: the processing unit 150 controls the clean robot 10 and rotates preset angle with the first angular speed After degree, controls the clean robot 10 and continue to rotate preset time with the second angular speed, and with second angular speed rotation The image of current environment is acquired in the preset time turned by described image acquisition unit 110.Wherein, second angular speed is small In first angular speed.
For example, when the visual angle that image acquisition units 110 are camera and the camera is θ, if 2 θ/3 are predetermined angle, then When can control the clean robot 10 with the first angular speed rotation 2 θ/3 (predetermined angle), then with the rotation of the second angular speed Preset time, and in the preset time rotated with the second angular speed acquire current environment image.Due to image acquisition units (for example, camera) 10 needs regular hour exposure image, and too fast rotary motion meeting is and slower so that image thickens Rotation speed can make the time-consuming growth for searching cradle 800.Therefore, figure is acquired at lower angular speed (the second angular speed) As image blur can be reduced, and then the precision of detection is improved, and can then be mentioned with higher angular speed (the first angular speed) rotation High integrally rotated mean angular velocity, and then improve the efficiency of detection.
In the present embodiment, at the end of the preset time rotated with the second angular speed, the processing unit 150 is determined When there is no cradle 800 in 110 acquired image of described image acquisition unit, then continue to rotate with above-mentioned spinning solution, that is, Clean robot 10 continues after current location rotates 2 θ/3 (predetermined angle) with the first angular speed, then with the rotation of the second angular speed Preset time, until 360 degree of the figure that 110 acquired image of described image acquisition unit is 10 current location of clean robot When picture, around there is cradle 800 if being also not detected, controls the clean robot 10 and be moved to the next position and continue to search Rope detection.
It is the region of search schematic diagram of the clean robot 10 referring again to Fig. 5.In some embodiments, it is The searching efficiency of cradle 800 is improved, the processing unit 150 is determining that there is no institutes around the clean robot 10 When stating cradle 800, controls the clean robot 10 and be moved to subsequent region from the region currently searched for and continue searching.Its In, the subsequent region and the region currently searched for be not at least partly be overlapped.Specifically, the control cleaner Device people 10 is moved to subsequent region from the region currently searched for and continues searching, comprising: according to 110 institute of described image acquisition unit The image of acquisition determines position of the cleaner robot 100 in map, and determines that 10 Current ambient of clean robot is pre- If the region in range is marked for region of search and in map.The processing unit 150 is also determined and is currently located at The adjacent non-region of search in region be the subsequent region, and control the clean robot 10 and be moved to subsequent region continuation It scans for.In the present embodiment, since the region searched for is marked in the processing unit 150, and then can have Effect is kept away repeats the case where searching in some region, improves the searching efficiency of cradle 800.
Wherein, the map be SLAM (Simultaneous Localization and Mapping, in real time it is self-positioning With self-built map) system map, and the map can be to be stored in storage unit 30, or it is stored in cloud server In.
In some embodiments, the image recognition week that the processing unit 150 is used to be acquired according to image acquisition units 110 It encloses with the presence or absence of cradle 800, it may include: the processing unit 150 obtains the ambient enviroment that image acquisition units 110 acquire Image, and carry out identifying processing using image of the default recognizer to the acquisition and identify the cradle 800.It is described pre- If recognizer includes but is not limited to, the recognition methods based on images match, the recognition methods based on deep learning etc..
The processing unit 150 carries out chamfered shape extraction to the image that image acquisition units 110 acquire, and will extract Shape contour compared with preset 800 profile of cradle, when determining successful match, determination recognize cradle 800. For example, the processing unit 150 can acquire in advance multiple sample datas of cradle 800 by image acquisition units 110, utilize Multiple sample datas of acquisition optimize the parameter of cradle 800 to obtain the characteristic model of cradle 800, and based on instruction It whether there is cradle 800 around the parameter detecting for the characteristic model perfected.It is appreciated that in the present embodiment, training The characteristic model of cradle can be pre-stored in storage unit 30.
In further embodiments, around the image recognition that the processing unit 150 is acquired according to image acquisition units 110 Whether have cradle 800, it may include: the processing unit 150 be also used to by image that image acquisition units 110 acquire with prestore Cradle 800 on be arranged cradle mark 821 pattern content compare, determine acquisition image in include and institute When stating cradle 821 matched part of mark, determination recognizes the cradle 800.
Wherein, the pattern content of the cradle mark 821 can be pre-stored in storage unit 30, when the processing is single Member 150 determines that the cradle for including in the image acquired and prestoring identifies 821 matched parts, then can determine and recognize cradle 800。
Wherein, processing unit 150 determines the chamfered shape and the chamfered shape phase of cradle 800 in the image currently acquired It is higher than threshold value like degree, such as when 90%, determines successful match, includes the figure with cradle mark 821 in the image of the acquisition The part of case content matching may also refer to include the phase with the pattern content of the cradle mark 821 prestored in the image acquired It is higher than the part of threshold value like degree.
It should be noted that the application to the present invention to the cradle 800 is identified with no restrictions, above-described embodiment is A kind of example.
Referring again to Fig. 6, change schematic diagram for the distance between clean robot 10 and the cradle 800.Such as Fig. 6 Shown, the processing unit 150 is also used to obtain the distance between the cradle 800 and described clean robot 10.Wherein, Obtaining the distance between the clean robot 10 and described cradle 800 can not be limited herein by infrared or laser It is fixed.When the relative distance between the clean robot 10 and the cradle 800 is less than or equal to first pre-determined distance When L1, determine that the clean robot 10 is within the scope of second area, at this point, the clean robot 10 can calculate it is described The location information of cradle 800；When the relative distance between the clean robot 10 and the cradle 800 is greater than described the When one pre-determined distance L1, determine that the clean robot 10 is in first area range.In the present embodiment, when the cleaning When relative distance between robot 10 and the cradle 800 is greater than the first pre-determined distance L1 and it is less than or equal to detection When distance threshold L2, the clean robot 10 is in first area range, at this point, the clean robot 10 can detecte Around do not calculate there are cradle 800 but the location information of the cradle 800；When the clean robot 10 and the charging When the distance between seat 800 is greater than the detecting distance threshold value L2, the clean robot 10 will be unable to detect cradle 800 Presence.
According to the image-forming principle of image it is found that when between the clean robot 10 and the cradle 800 it is opposite away from When from changing, described image acquisition unit 110 collected cradle 800 or the cradle mark 821 figure The area of picture can change, that is, described when the clean robot 10 is closer with the relative distance of the cradle 800 Image acquisition units 110 the area of image of collected cradle 800 or cradle mark 821 can be bigger.Therefore, one In a little embodiments, the processing unit 150 is also used to obtain the area of cradle image in the image of acquisition, when the charging When the area of seat image is less than preset area, determine that the clean robot 10 is in first area range；When the cradle When the area of image is greater than or equal to preset area, determine that the clean robot 10 is in second area range.Cradle figure As in this way, avoid detecting the distance between the cradle 800 and described clean robot 10 using other additional elements, To save production cost.
In the present embodiment, the processing unit 150 is also used in the 110 collected mesh of institute of described image acquisition unit When the area of logo image is preset area, determine that the distance between the clean robot 10 and the cradle 800 are determined as The first pre-determined distance L1.
Wherein, when the area of cradle image cradle image in the image for determining acquisition is less than the preset area, Determine that the distance between the clean robot 10 and described cradle 800 are greater than the first pre-determined distance L1；When determination is adopted When the area of cradle image cradle image is greater than the preset area in the image of collection, determine the clean robot 10 with The distance between described cradle 800 is less than or equal to the first pre-determined distance L1.When the area of the cradle image When less than or equal to the preset area, when the character pixel position of image is more accurate, at this point, according to cradle image meter The location information for calculating cradle 800 is more accurate；And when the area of target image is less than preset area, between characteristics of image Pixel distance is relatively small, the variation of the pixel of noise is relatively large, will lead to the location information of calculated cradle 800 Error is relatively large.
In some embodiments, when the processing unit 150 determines that the clean robot 10 is in first area model When enclosing, the processing unit 150 controls the clean robot 10 and moves along preset direction, comprising: the processing unit 150 It controls the clean robot 10 and rotates so that the cradle image and be located at the figure collected of described image acquisition unit 110 The center of picture, and control the clean robot 10 and moved towards the cradle 800, and in the process of movement described in holding Cradle image is located at the center of 110 acquired image of described image acquisition unit.So, it is ensured that the cleaning machine For people 10 during moving close to the cradle 800, the cradle 800 is always positioned at the clean robot 10 Front, and then the precision of charging alignment can be improved and reduce run duration.
In some embodiments, the image that described image acquisition unit 110 acquires is depth image or RGB image.Institute State the location information that processing unit 150 determines the cradle 800, comprising: the processing unit 150 is acquired according to described image Unit 110 collected cradle image depth information or RGB information determine the location information of the cradle.In this reality It applies in mode, due to determining the location information of cradle 800 by Image Acquisition, compared to other location technologies (for example, red Outer location navigation) cost can be reduced and improve location efficiency.
Further, the processing unit 150 according to described image acquisition unit 110 collected cradle image Depth information or RGB information determine the location information of the cradle, comprising: the processing unit 150 is adopted according to described image Collection unit 110 collected cradle image depth information or RGB information determine cradle 800 and clean robot 10 Relative position information, the processing unit 150 and according to the current position of the clean robot 10 and the cradle 800 The location information of the cradle 800 is determined with the relative position information of the clean robot 10.Wherein, the relative position Information includes direction and the distance of 800 relative clean robot 10 of cradle.Since the position of clean robot 10 is it is known that therefore The location information of the cradle 800 can be quickly determined according to the relative position information in image, improve location efficiency.
Wherein, the processing unit 150 determines the changing coordinates position of clean robot 10 according to SLAM system map in real time It sets, and determine cradle 800 and clean robot 10 according to the depth information of the image of acquisition or RGB information includes opposite The relative position information of distance and relative direction, then according to the changing coordinates in SLAM system map of clean robot 10 Position and relative position information determine coordinate position of the cradle 800 in SLAM system map, to obtain cradle 800 Position.
To which processing unit 150 can be according to absolute coordinate of the clean robot 10 in SLAM system map and charging Seat 800 relative to clean robot 10 relative position and obtain absolute coordinate of the cradle 800 in SLAM system map.Its In, absolute coordinate of the cradle 800 in SLAM system map is the center position of cradle 800 in SLAM system Coordinate position.
Further, the location information of the cradle 800 includes 800 position coordinate data of cradle and cradle 800 posture.By 800 position coordinate data of cradle, clean robot 10 can accurately be moved to the attached of cradle 800 Closely, by the guide of the posture of cradle 800, clean robot 10 can be moved to quickly the front of cradle 800, to realize Quickly with the contraposition of cradle 800.
In some embodiments, described to control the clean robot 10 according to the positional information and be moved to described fill Electric seat 800 charges, comprising: the processing unit 150 determines the cradle according to the location information of the cradle 800 800 charging face, and determine the position of the center vertical line in the charging face.Wherein, the position of the center vertical line in the charging face The position for extending and passing through can be faced outwardly from charging by the center vertical line in charging face.The processing unit 150 also judges described clear Whether clean robot 10 is at a distance from the center vertical line less than the second pre-determined distance；When determining the clean robot 10 and institute When stating the distance of center vertical line less than the second pre-determined distance threshold value, controls the clean robot 10 and continue to fill described in Electric seat is mobile, is charged with being moved to the preset charged position of the cradle 800.In the present embodiment, the charging Face is the main body base 820 close to the pedestal 810 and the face that is connected with the pedestal 810.As previously mentioned, in other embodiment party In formula, the charging electrode piece 821 be may also set up in the charging face charging electrode on piece, it is not limited here.
Wherein, the processing unit 150 controls the clean robot according to PID (proportional-integral-differential) control technology 10 is mobile towards the cradle 800.Specifically, the processing unit 150 be arranged first initial angular speed feedback regulation amount, Line speed feedback regulated quantity is zero, then default value of feedback assignment in current feedback value, and is fed back with current angular speed Regulated quantity, line speed feedback regulated quantity change the angular speed of current clean robot 10, wire velocity control amount, to adjust current The posture of fuselage, while calculating the center vertical line of 800 image of cradle observed under the posture.When the position of fuselage is at center When near vertical line, current fuselage is calculated towards the angle with center vertical line as error angle, current fuselage position to center vertical line Vertical range as error distance.Error angle, error distance are accelerated with the angle that certain proportion weighted calculation obtains subsequent time Spend feedback regulation amount, linear acceleration feedback regulation amount；Current angular, Angular Acceleration Feedback regulated quantity and error angle, error Distance obtains the angular speed feedback regulation amount of subsequent time with certain proportion weighted calculation；Current linear acceleration, linear acceleration are anti- It presents regulated quantity and error angle, error distance and the line speed feedback regulated quantity of subsequent time is obtained with certain proportion weighted calculation.Under The feedback regulation amount at one moment will come into force in cycle detection next time.During fuselage movement, pass through electrode 121/122 Whether constantly detection cradle 800 accesses, when the charging fashionable control fuselage stop motion of seated connection 800.
In some embodiments, when the processing unit 150 determines the clean robot 10 and the center vertical line Distance be more than or equal to second pre-determined distance when, control the clean robot 10 and be moved to and the center vertical line Distance is less than the position of second pre-determined distance.
It should be noted that when the clean robot 10 at a distance from the center vertical line farther out when, illustrate described clear There are no faces of charging described in face for clean robot 10, and therefore, it is necessary to guide the clean robot 10 to the center vertical line Closer position is so that face of charging described in 10 face of the clean robot.At this time, that is, when the clean robot 10 and institute State when being closer of center vertical line, further according to PID control technology adjust 10 moving direction of clean robot and it is mobile away from It is moved on pedestal 810 from can finally control the clean robot 10, and then realizes cradle 800 and the clean robot 10 electrical connections, and be the purpose of the clean robot 10 charging.
In some embodiments, the processing unit 150 also judges in map with the presence or absence of the cradle of history label 800 position, and when determining in the map there are when the position of the cradle 800 of history label, control the cleaning machine People 10 is moved to the position of the cradle 800 of the history label, and fills in the position presence of the cradle of history label It is clean robot charging by the cradle 800 when electric seat 800.Cradle 800 is searched in this way, can save Time, raising recharge efficiency.
It is appreciated that if when the position of cradle 800 of history label does not have cradle 800, Ke Yiyi It is scanned for according to above-mentioned detection method, until searching cradle 800.
Referring again to Fig. 7, Fig. 7 is the step flow chart for the recharging method that one embodiment of the invention provides.It is described from Main charging method is applied in clean robot 10, and the clean robot 10 includes the Image Acquisition for acquiring current environment Unit 110.As shown in fig. 7, the recharging method includes the following steps:
Step S71 acquires the image of current environment.
Step S72 controls the clean robot 10 when determining that the clean robot 10 is in first area range It is moved along preset direction.
Wherein, the preset direction is the direction moved towards the cradle 800.
In some embodiments, the control clean robot 10 is moved along preset direction, comprising: control institute It states clean robot 10 and rotates so that the cradle image and be located in 110 acquired image of described image acquisition unit Centre, and control the clean robot 10 and moved towards the cradle 800, and keep the cradle in the process of movement Image is located at the center of 110 acquired image of described image acquisition unit.So, it is ensured that the clean robot 10 exists During being moved close to the cradle 800, the cradle 800 be always positioned at the clean robot 10 just before Side, and then the precision of charging alignment can be improved and reduce run duration.
Step S73, when determining that the clean robot is in second area range, based in the second area range The image of interior acquisition determines the location information of cradle 800.
In some embodiments, the image that described image acquisition unit 110 acquires is depth image or RGB image；Institute State the location information for determining the cradle 800, comprising: according to the 110 collected cradle figure of institute of described image acquisition unit The depth information or RGB information of picture determine the location information of the cradle 800.In the present embodiment, due to passing through image The location information to determine cradle 800 is acquired, can be reduced into compared to other location technologies (for example, infrared location navigation) Originally and location efficiency is improved.
In some embodiments, it is described according to described image acquisition unit 110 collected cradle image depth Degree information or RGB information determine the location information of the cradle 800, comprising: are acquired according to described image acquisition unit 110 To cradle image depth information or RGB information determine the relative position information of cradle 800 and clean robot 10, and According to the relative position of the cleaning clean robot current position and the cradle 800 and the clean robot 10 Information determines the location information of cradle 800.Since the position of clean robot 10 is it is known that therefore according to the opposite position in image Confidence ceases the location information that can quickly determine the cradle 800, improves location efficiency.
Specifically, it is determined that the clean robot 10, which is in the first area range, is in the second area model Enclose includes: to obtain the distance between the cradle and the clean robot 10；When the cradle 800 and the cleaner When the distance between device people 10 is greater than the first pre-determined distance, determine that the clean robot 10 is in first area range；Work as institute The distance between cradle 800 and the clean robot 10 are stated less than or equal to first pre-determined distance, is determined described clear Clean robot is in second area range；Or
The area for obtaining cradle image in the image of acquisition, when the area of the cradle image is less than preset area When, determine that the clean robot 10 is in first area range；It is preset when the area of the cradle image is greater than or equal to When area, determine that the clean robot 10 is in second area range.
In other embodiments, when determining the collected cradle image areas of the institute of described image acquisition unit 110 When for preset area, determine that the distance between the clean robot 10 and described cradle 800 are first pre-determined distance. When determining that the 110 collected cradle image areas of institute of described image acquisition unit are less than the preset area, described in determination The distance between clean robot 10 and the cradle 800 are greater than first pre-determined distance；When determine described image acquire When the 110 collected cradle image area of institute of unit is greater than or equal to the preset area, the clean robot 10 is determined The distance between described cradle 800 is less than or equal to first pre-determined distance.
Step S74 controls the clean robot 10 according to the positional information and is moved to the cradle 800 and filled Electricity；Wherein, the second area range is than the first area range closer to the cradle.
In some embodiments, described to control the clean robot 10 according to the positional information and be moved to described fill Electric seat 800 charges, comprising: the charging face of the cradle 800 is determined according to the location information of the cradle 800, and Determine the position of the center vertical line in the charging face；Judge whether the clean robot 10 is small at a distance from the center vertical line In the second pre-determined distance；When determine the clean robot 10 at a distance from the center vertical line be less than second pre-determined distance When, it controls the clean robot 10 and continues towards the cradle 800 movement, to be moved to the default of the cradle 800 Charge position charges.
Wherein, the processing unit 150 clean robot 10 according to PID control technical controlling is towards the cradle 800 is mobile.Specifically, initial angular speed feedback regulation amount, line speed feedback regulated quantity is arranged in the processing unit 150 first It is zero, then default value of feedback assignment in current feedback value, and with current angular speed feedback regulation amount, line speed feedback Regulated quantity changes the angular speed of current clean robot 10, wire velocity control amount is counted simultaneously to adjust the posture of current fuselage Calculate the center vertical line of 800 image of cradle observed under the posture.When the position of fuselage is near the vertical line of center, calculating is worked as Forebody towards with the angle of center vertical line as error angle, current fuselage position to center vertical line vertical range as error Distance.Error angle, error distance obtain the Angular Acceleration Feedback regulated quantity of subsequent time with certain proportion weighted calculation, line accelerates Spend feedback regulation amount；Current angular, Angular Acceleration Feedback regulated quantity and error angle, error distance are in terms of certain proportion weighting Calculation obtains the angular speed feedback regulation amount of subsequent time；Current linear acceleration, linear acceleration feedback regulation amount and error angle, error Distance obtains the line speed feedback regulated quantity of subsequent time with certain proportion weighted calculation.The feedback regulation amount of subsequent time will be in It comes into force in cycle detection next time.During fuselage movement, whether cradle 800 is constantly detected by electrode 121/122 Access, when cradle 800 connects 800 fashionable control fuselage stop motions.
In some embodiments, when determining that the clean robot 10 is greater than or waits at a distance from the center vertical line When second pre-determined distance, controls the clean robot 10 and be moved to the center vertical line distance less than described second On the position of pre-determined distance.
It should be noted that when the clean robot 10 at a distance from the center vertical line farther out when, illustrate described clear There are no faces of charging described in face for clean robot 10, and therefore, it is necessary to guide the clean robot 10 to the center vertical line Above so that face of charging described in 10 face of clean robot.At this point, adjusting the cleaning machine further according to PID control technology 10 moving direction of people and moving distance can finally control the clean robot 10 and be moved on pedestal 810, and then realize charging Seat 800 is electrically connected with the clean robot 10, and is the purpose of the clean robot 10 charging.
Recharging method provided by the embodiment of the present invention is determining that the clean robot is in first area range When, it controls the clean robot and is moved along preset direction, determining that the clean robot 10 is in second area range When, the location information of cradle 800 is determined based on the image acquired within the scope of the second area, and believe according to the position The breath control clean robot 10 is moved to the cradle 800 and charges.As described in the second area range ratio First area range is closer to the cradle.Compared to the existing real-time location navigation recharged in technology, in the application When scheme is that the determining clean robot 10 is in the second area range closer from charging pile, the position of cradle is just determined Information, and then reduce operand, and avoid sensor noise interference, so that reducing clean robot 10 is recharging process The middle energy consumption generated by the navigation of real-time self poisoning, improves the time that uses of clean robot 10, while also improving The service life of battery.
Referring again to Fig. 8, Fig. 8 be another embodiment of the present invention provides recharging method step flow chart.In phase Compared with the recharging method in Fig. 7, the recharging method in the present embodiment further includes following steps:
Step S81 determines that surrounding whether there is cradle according to 110 acquired images of described image acquisition unit 800.If so, thening follow the steps S72；If it is not, thening follow the steps S82.
In some embodiments, described to determine that surrounding is according to 110 acquired images of described image acquisition unit No there are cradles 800, comprising: controls the clean robot 10 and rotates in place, and passes through described image in rotary course The image of the acquisition current environment of acquisition unit 110；When identifying the cradle 800 in the image from acquisition, described in determination There are the cradles 800 around clean robot 10.
The control clean robot 10 rotates in place, and passes through described image acquisition unit in rotary course The image of 110 acquisition current environments, comprising: after controlling the clean robot 10 with the first angular speed rotation predetermined angle, control It makes the clean robot 10 to continue to rotate preset time with the second angular speed, and default rotating with second angular speed The image of current environment is acquired in time by described image acquisition unit 110；Wherein, second angular speed is less than described the One angular speed.
For example, when the visual angle that image acquisition units 110 are camera and the camera is θ, it, can if 2 θ/3 are predetermined angle It is then pre- with the rotation of the second angular speed when rotating 2 θ/3 (predetermined angle) to control the clean robot 10 with the first angular speed If the time, and in the preset time rotated with the second angular speed acquire current environment image.Due to image acquisition units 110 (for example, camera) 10 needs regular hour exposure image, and too fast rotary motion meeting is and slower so that image thickens Rotation speed can make the time-consuming growth for searching cradle 800.Therefore, figure is acquired at lower angular speed (the second angular speed) As image blur can be reduced, and then the precision of detection is improved, and can then be mentioned with higher angular speed (the first angular speed) rotation The mean angular velocity of height rotation, and then improve the efficiency of detection.
In the present embodiment, at the end of the preset time rotated with the second angular speed, when determine described image acquire When there is no cradle 800 in 110 acquired image of unit, then continue to rotate with above-mentioned spinning solution, that is, clean robot 10 Continue after current location rotates 2 θ/3 (predetermined angle) with the first angular speed, then preset time is rotated with the second angular speed, directly To 110 acquired image of described image acquisition unit be 10 current location of clean robot 360 degree of image when, if also not It detects around there is cradle 800, then controls the clean robot 10 and be moved to the next position and continue searching detection.
Step S82, controls the clean robot 10 and is moved to subsequent region from the region currently searched for and continue searching； Wherein, the subsequent region and the region searched for be not at least partly be overlapped.
The control clean robot 10 is moved to subsequent region from the region currently searched for and continues searching, and wraps It includes: position of the clean robot in map being determined according to 110 acquired image of described image acquisition unit, and is determined Region in the 10 Current ambient preset range of clean robot is current region of search and is marked in the map Note；The determining non-region of search adjacent with region that is currently having searched for is the subsequent region, and controls the clean robot 10, which are moved to subsequent region, continues to search for.In the present embodiment, since the region searched for being marked, in turn It can effectively keep away and repeat the case where searching in some region, improve the searching efficiency of cradle 800.
Referring again to Fig. 9, Fig. 9 is the step flow chart for the recharging method that further embodiment of this invention provides.It compares Recharging method in Fig. 8, the recharging method in the present embodiment further includes following steps:
Step S91 judges the position of the cradle 800 in map with the presence or absence of history label.If so, thening follow the steps S92；If it is not, thening follow the steps S71.
Step S92 controls the cleaning when determining in the map there are when the position of the cradle 800 of history label Robot 10 is moved to the position of the cradle 800 of the history label, and the position of the cradle 800 in history label It is that the clean robot 10 charges by the cradle 800 there are when cradle 800.In this way, search charging can be saved The time of seat 800, raising recharge efficiency.
Referring again to Figure 10, Figure 10 is the structural block diagram of the clean robot 10 provided in another embodiment of the present invention. As shown in Figure 10, the clean robot 10 include image collection module 106, area determination module 101, control module 102 with And position determination module 103.Wherein, described image obtains the image that module 106 is used to obtain the acquisition of image acquisition units 110. The area determination module 101 is for determining that the clean robot 10 is in first area range and is in second area model It encloses.When the area determination module 101 determines that the clean robot 10 is in the first area range, the control mould Block 102 can be used to implement method shown in step S72 in above method embodiment；When the area determination module 101 determines When the clean robot 10 is in the second area range, the position determination module 103 can be used to implement above-mentioned side Method shown in step S73 in method embodiment.The control module 102 can be also used for realizing step in above method embodiment Method shown in S74.Wherein, the second area range is than the first area range closer to the cradle.
In some embodiments, the clean robot 10 further includes identification module 104 and search module 105.It is described Identification module 104 can be used to implement method shown in step S81 in above method embodiment.Described search module can be used for Realize method shown in step S82 in above method embodiment.
In some embodiments, position determination module 103 can also be used to realize step S91 institute in above method embodiment The method shown.The control module 102 can also be used to realize method shown in step S92 in above method embodiment.
It should be noted that the detail of function performed by each unit of clean robot 10 described in Figure 10 Each embodiment of above-mentioned recharging method can be joined, details are not described herein.
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 programmable Read-only memory (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (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, magnetic tape storage or can For carrying or any other computer-readable medium of 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 module It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple module 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 module It closes or communicates to connect, can be electrical property, mechanical or other forms.
The module 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.Some or all of the modules therein can be selected to realize the mesh of this embodiment scheme according to the actual needs 's.
It, can also be in addition, each functional module in each embodiment of the application can integrate in one processing unit It is that modules physically exist alone, can also be integrated in two or more modules in a module.Above-mentioned integrated mould Block both can take the form of hardware realization, can also be realized in the form of software function module.
If the integrated module 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 (18)

1. a kind of clean robot, which is characterized in that the clean robot includes:
Image acquisition units, for acquiring the image of current environment；
Processing unit, for controlling the clean robot edge when determining that the clean robot is in first area range Preset direction movement；
When determining that the clean robot is in second area range, based on the image acquired within the scope of the second area It determines the location information of cradle, and controls the clean robot according to the positional information and be moved to the cradle progress Charging；Wherein, the second area range is than the first area range closer to the cradle.
2. clean robot as described in claim 1, which is characterized in that the processing unit is also used to determining the cleaning Robot is in front of first area range or second area range, is determined according to described image acquisition unit acquired image Surrounding whether there is cradle；
Wherein, the processing unit determines surrounding with the presence or absence of charging according to described image acquisition unit institute's acquired image Seat, comprising: the processing unit controls the clean robot and rotates in place, and is acquired in rotary course by described image The image of unit acquisition current environment；When the processing unit identifies the cradle from the image of acquisition, institute is determined State around clean robot that there are the cradles.
3. clean robot as described in claim 2, which is characterized in that the processing unit controls the clean robot It rotates in place, and acquires the image of current environment by described image acquisition unit in rotary course, comprising: the processing is single After member controls the clean robot with the first angular speed rotation predetermined angle, the clean robot is controlled with the second angular speed Continue to rotate preset time, and is acquired in the preset time rotated with second angular speed by described image acquisition unit The image of current environment；Wherein, second angular speed is less than first angular speed.
4. clean robot as claimed in claim 2, which is characterized in that when the processing unit determines the clean robot Around be not present the cradle when, control the clean robot from the region currently searched for be moved to subsequent region after Continuous search；Wherein, the subsequent region and the region currently searched for be not at least partly be overlapped.
5. clean robot as claimed in claim 4, which is characterized in that the control clean robot has been searched from currently The region of rope is moved to subsequent region and continues searching, comprising: according to the determination of described image acquisition unit acquired image Position of the clean robot in map, and determine that the region in the clean robot Current ambient preset range is to have searched for Region is simultaneously marked in the map；The processing unit also determines the non-region of search adjacent with the region being currently located at For the subsequent region, and controls the clean robot and be moved to subsequent region and continue to search for.
6. the clean robot as described in any one of claims 1 to 5, which is characterized in that the processing unit is also used to obtain Take the distance between the cradle and the clean robot；When the distance between the cradle and the clean robot When greater than the first pre-determined distance, determine that the clean robot is in first area range；When the cradle and the cleaning The distance between robot is less than or equal to first pre-determined distance, determines that the clean robot is in second area model It encloses；Or
The processing unit is also used to obtain the area of cradle image in the image of acquisition, when the area of the cradle image When less than preset area, determine that the clean robot is in first area range；When the area of the cradle image is greater than Or when being equal to preset area, determine that the clean robot is in second area range.
7. clean robot as claimed in claim 6, which is characterized in that the processing unit is also used to the figure in the acquisition When the area of cradle image is preset area as in, determine the distance between the clean robot and the cradle for institute State the first pre-determined distance；
The processing unit and determine acquisition image in cradle image area be less than the preset area when, determine institute The distance between clean robot and the cradle are stated greater than first pre-determined distance；
The processing unit and determine acquisition image in cradle image area be greater than or equal to the preset area when, Determine that the distance between the clean robot and the cradle are less than or equal to first pre-determined distance.
8. the clean robot as described in any one of claims 1 to 7, which is characterized in that described in the processing unit control Clean robot is moved along preset direction, comprising: the processing unit control clean robot rotates so that described Cradle image is located at the center of described image acquisition unit acquired image, and controls the clean robot described in Cradle movement, and the cradle image is kept to be located at described image acquisition unit acquired image in the process of movement Center.
9. a kind of recharging method is applied in clean robot；It is characterized in that, the recharging method includes step It is rapid:
Acquire the image of current environment；
When determining that the clean robot is in first area range, controls the clean robot and transported along preset direction It is dynamic；
When determining that the clean robot is in second area range, based on the image acquired within the scope of the second area Determine the location information of cradle；And
The clean robot is controlled according to the positional information be moved to the cradle charge；Wherein, described second Regional scope is than the first area range closer to the cradle.
10. recharging method as claimed in claim 9, which is characterized in that the recharging method determine it is described clear Clean robot is in front of first area range or second area range, further includes:
Determine that surrounding whether there is cradle according to described image acquisition unit institute's acquired image；
It is wherein, described to determine that surrounding whether there is cradle according to described image acquisition unit acquired image, comprising:
It controls the clean robot to rotate in place, and current environment is acquired by described image acquisition unit in rotary course Image；
When identifying the cradle in the image from acquisition, determine that there are the chargings around the clean robot Seat.
11. recharging method as claimed in claim 10, which is characterized in that the control clean robot original place rotation Turn, and acquire the image of current environment by described image acquisition unit in rotary course, comprising:
After the clean robot is controlled with the first angular speed rotation predetermined angle, the clean robot is controlled with second jiao of speed Degree continues to rotate preset time, and is adopted in the preset time rotated with second angular speed by described image acquisition unit Collect the image of current environment；Wherein, second angular speed is less than first angular speed.
12. recharging method as claimed in claim 10, which is characterized in that the recharging method further include:
When determining around the clean robot there is no when the cradle, controls the clean robot and searched from currently The region of rope is moved to subsequent region and continues searching；Wherein, the subsequent region and the region searched for be not at least partly Overlapping.
13. recharging method as claimed in claim 12, which is characterized in that the control clean robot is from current The region searched for is moved to subsequent region and continues searching, comprising:
Position of the cleaner robot in map is determined according to described image acquisition unit acquired image, and is determined Region in the clean robot Current ambient preset range is current region of search and is marked in the map；
The determining non-region of search adjacent with region that is currently having searched for is the subsequent region, and controls the clean robot Subsequent region is moved to continue to search for.
14. the recharging method as described in any one of claim 9-13, which is characterized in that determine the clean robot Being in the second area range in the first area range includes:
Obtain the distance between the cradle and the clean robot；When between the cradle and the clean robot Distance be greater than the first pre-determined distance when, determine that the clean robot is in first area range；When the cradle and institute The distance between clean robot is stated less than or equal to first pre-determined distance, determines that the clean robot is in the secondth area Domain range；Or
The area for obtaining cradle image in the image of acquisition, when the area of the cradle image is less than preset area, really The fixed clean robot is in first area range；When the area of the cradle image is greater than or equal to preset area, Determine that the clean robot is in second area range.
15. recharging method as claimed in claim 14, which is characterized in that when determining the cradle in acquired image When the area of image is preset area, determine that the distance between the clean robot and the cradle are described first default Distance；
When determine acquisition image in cradle image area be less than the preset area when, determine the clean robot with The distance between described cradle is greater than first pre-determined distance；
When the area of cradle image in the image for determining acquisition is greater than or equal to the preset area, the cleaner is determined The distance between device people and the cradle are less than or equal to first pre-determined distance.
16. the recharging method as described in any one of claim 9-15, which is characterized in that the control cleaner Device people moves along preset direction, comprising: controls the clean robot and rotates so that the cradle image positioned at described The center of image acquisition units acquired image, and control the clean robot and moved towards the cradle, and transporting The cradle image is kept to be located at the center of described image acquisition unit acquired image in dynamic process.
17. a kind of recharging system, including cradle, which is characterized in that the recharging system further includes that right such as is wanted Clean robot described in asking any one of 1 to 8.
18. a kind of readable storage medium storing program for executing, which is characterized in that be stored with recharging method on the computer readable storage medium Corresponding program, the corresponding program of the recharging method be performed realization as described in any one of claim 9 to 16 Recharging method.
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