CN110621208A - 检测机器人清洁设备前方的表面的高度差的方法 - Google Patents
检测机器人清洁设备前方的表面的高度差的方法 Download PDFInfo
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Abstract
本发明涉及一种检测机器人清洁设备前方的表面的高度差的方法以及一种执行该方法的机器人清洁设备。在本发明的第一方面,提供了一种用于机器人清洁设备(10)检测该机器人清洁设备移动前方的表面(31)的高度差的方法。该方法包括:用光(30b)照亮(S101)该表面,捕获(S102)该表面的图像(40b),检测(S103)所捕获的图像(40b)中由该光(30b)引起的光亮区段,识别(S104)表示所检测到的光亮区段的至少第一段(30b’)和第二段(30b”),以及根据所识别出的第一段与第二段(30b’,30b”)之间的位置关系来检测(S104)该表面(31)的高度差。
Description
技术领域
本发明涉及一种检测机器人清洁设备前方的表面的高度差的方法以及一种执行该方法的机器人清洁设备。
进一步提供了一种计算机程序,该计算机程序包括计算机可执行指令,这些计算机可执行指令用于当这些计算机可执行指令在机器人清洁设备中所包括的控制器上被执行时使该机器人清洁设备执行该方法的步骤。
还进一步提供了一种计算机程序产品,该计算机程序产品包括计算机可读介质,该计算机可读介质具有在其上实施的计算机程序。
背景技术
在许多技术领域中,希望使用具有自主行为的机器人,使得它们可以在空间周围自由地移动而不与可能的障碍物碰撞。
机器人真空吸尘器在本领域是已知的,这些机器人真空吸尘器装备有呈马达形式的驱动装置以用于在待清洁表面上移动吸尘器。机器人真空吸尘器进一步装备有呈用于引起自主行为的微处理器和导航装置形式的智能,使得机器人真空吸尘器能够自由地来回移动并且清洁呈例如地板形式的表面。因此,这些现有技术机器人真空吸尘器具有或多或少地自主地对其中定位有物体(如桌椅)以及其他障碍物(如墙和楼梯)的房间进行真空吸尘的能力。
现有技术机器人真空吸尘器的问题是,这些机器人真空吸尘器易于被堵在例如门阶或厚的小地毯等障碍物上。
所遇到的尤其成问题的障碍物是边沿,通常呈通向下地板的楼梯的形式。如果机器人吸尘器未检测到这样的边沿,则存在机器人从边沿掉落、从楼梯坠落并永久损坏的风险。
发明内容
本发明的目的是解决或至少减轻本领域中的这个问题并且提供一种检测机器人清洁设备前方的表面的高度差的改进方法。
这个目的在本发明的第一方面是通过一种用于机器人清洁设备检测该机器人清洁设备前方的表面的高度差的方法达到的。该方法包括:用光照亮该表面;捕捉该表面的图像;检测所捕获的图像中由该光引起的光亮区段;识别表示所检测到的光亮区段的至少第一段和第二段;以及根据所识别出的第一段与第二段之间的位置关系来检测该表面的高度差。
这个目的在本发明的第二方面是通过机器人清洁设备达到的,该机器人清洁设备被配置用于检测该机器人清洁设备前方的表面的高度差。该机器人清洁设备包括推进系统,该推进系统被配置用于使该机器人清洁设备移动,相机装置,该相机装置被配置用于记录该机器人清洁设备附近的图像;以及至少一个光源,该至少一个光源被配置用于照亮该机器人清洁设备前方的表面。该机器人清洁设备进一步包括控制器,该控制器被配置用于:控制该至少一个光源照亮该机器人清洁设备前方的表面,控制该相机装置捕获被照亮表面的图像,检测所捕获的图像中的由照亮该表面的至少一个光源引起的光亮区段,识别表示所检测到的光亮区段的至少第一段和第二段,以及根据所识别出的第一段与第二段之间的位置关系来检测该表面的高度差。
有利地,通过测量机器人设备前方的表面的高度差,可以及时计划机器人设备在遇到物体或表面之前应该如何移动以便执行清洁程序并且进一步可以避免横越例如门阶(其高度可能太大而使得机器人设备无法横越)等物体。
进一步有利的是,通过检测机器人清洁设备前方的物体或表面(例如厚的小地毯)的高度,机器人可以被控制成沿小地毯的周边移动,由此有效使用机器人可以配备的任何侧刷。在已经沿小地毯的周边清洁之后,机器人清洁设备可以向上移动到小地毯上,该机器人清洁设备通常在该小地毯上不使用侧刷。而是,机器人可以使机器人可以配备的可旋转刷辊在向前方向和向后方向上交替地旋转,以避免小地毯的纤维缠到刷辊中。因此,任何刷辊和任何(多个)侧刷的移动可以有利地通过考虑机器人清洁设备前方的表面和物体的确定的高度来进行控制。
在实施例中,机器人设备检测到所捕获的图像中在所识别出的第一段与第二段之间出现不连续,其中,高度差被检测为包括边沿。
在本实施例中,较不复杂的机器人设备有利地可以实施的是,通过从所捕获的图像中得出第一段与第二段不连续的结论,从而检测到机器人设备前方的地板的高度差。
如果出现此类不连续,那么机器人清洁设备在一个实施例中得出这样的结论:机器人清洁设备前方一定距离处的地板位于比机器人清洁设备正前方的地板更低的高度上。然而,如果使用此类方法,那么机器人设备仅知道存在高度差,但不能评估高度差的高度。
在另一个实施例中,机器人设备确定在所捕获的图像中第二段是否竖直地位于第一段的下方,在这种情况下,高度差构成边沿。
在另一实施例中,较不复杂的机器人设备有利地可以实施的是,通过从图像中得出第一段与第二段通过第三段连接的结论,从而检测到机器人设备前方的地板的高度差。
如果在所捕获的图像中存在第一段与第二段之间的此类连接段,那么机器人设备得出这样的结论:机器人清洁设备前方一定距离处的地板位于比机器人清洁设备正前方的地板更高的高度上。因此,已经遇到了海拔高度。
在另一个实施例中,机器人设备确定第二段是否竖直地位于第一段的上方,在这种情况下,高度差构成海拔高度。
在又一实施例中,机器人设备确定例如距边沿的距离以及边沿的高度。
因而,更精细的机器人清洁设备可以根据x和y图像坐标通过将图像坐标转化为实际的真实世界距离来确定距边沿的距离以及边沿的高度。
这种信息可以有利地被用于划分待清洁的区域。例如,机器人设备可以确定,应该先结束清洁其目前所在的房间,然后移动到下一个房间,即然后从边沿下降到下地板。
可以进一步设想,机器人设备在确定其高度之后根本没有从边沿下降。假设例如边沿的高度超过预定高度阈值;这表明边沿之后是阶梯,在这种情况下,机器人设备被控制成不越过边沿以避免机器人跌落。
进一步提供了一种计算机程序,该计算机程序包括计算机可执行指令,这些计算机可执行指令用于当这些计算机可执行指令在机器人清洁设备中所包括的控制器上被执行时使该机器人清洁设备执行该方法的步骤。
还进一步提供了一种计算机程序产品,该计算机程序产品包括计算机可读介质,该计算机可读介质具有在其上实施的计算机程序。
一般而言,除非本文中另有明确定义,否则在权利要求中所使用的所有术语是根据它们在技术领域中的普通含义来解释的。除非另有明确声明,所有引用的“一种/一个/该元件、设备、部件、手段、步骤等”是如参照该元件、设备、部件、手段、步骤等中的至少一个实例开放性解释的。除非明确声明,本文中披露的任何方法的步骤不必完全按照所披露的顺序执行。
附图说明
现在将通过举例方式通过参照附图来描述本发明,在附图中:
图1展示了根据本发明的实施例的对机器人清洁设备在其上移动的表面上的物体进行的检测;
图2a展示了根据实施例的当处于图1的位置P1时机器人清洁设备的相机捕获的图像;
图2b展示了根据实施例的当处于图1的位置P2时机器人清洁设备的相机捕获的图像;
图2c展示了当处于图1的位置P2时机器人清洁设备的侧视图;
图3示出了展示检测机器人清洁设备在其上移动的表面的高度差的方法的实施例的流程图;
图4a展示了图2b的所捕获的图像的放大视图;
图4b展示了根据实施例计算距所遇到的物体的距离;
图4c展示了根据实施例计算所遇到的物体的高度;
图5展示了遇到海拔高度的机器人清洁设备的侧视图;
图6展示了机器人清洁设备在图5示出的位置上时所捕获的图像;
图7示出了根据实施例的机器人清洁设备的底视图;并且
图8示出了根据实施例的机器人清洁设备的前视图。
具体实施方式
现在将参照这些附图在下文中更为全面地描述本发明,在附图中示出了本发明的某些实施例。然而,本发明可以呈许多不同形式来实施,并不应被解释为局限于本文中阐述的这些实施例;而是,这些实施例是以示例方式提供的,这样使得本公开将是全面和完整的,并将向本领域技术人员完整地传达本发明的范围。贯穿本说明书,相同的附图标记表示相同的元件。
本发明涉及机器人清洁设备,或者换言之,涉及用于清洁表面的自动自推进机器,例如机器人真空吸尘器、机器人扫地机或机器人地板清洗机。根据本发明的机器人清洁设备能够用市电操作并且具有电绳、能够用电池操作或者使用任何其他种类的合适的能源,例如,太阳能。
图1展示了根据本发明的实施例的对机器人清洁设备在其上移动的表面上的物体进行的检测。
在此特定的示例性实施例中,机器人设备100使用一个竖直线激光器127来照亮机器人设备在其上移动的表面(即地板31)。然而,可以设想任何适当的光源用于照亮表面31。进一步地,可以照亮表面的更小的或更大的部分。
如图1中可见,线激光器127将激光束30a投射到待清洁房间的地板31和第一墙壁32上,而机器人设备100使用其相机123捕获被照亮表面的图像。
图2a展示了当处于第一位置P1时机器人设备100的相机123捕获的图像40a。
可以看出,激光束30a将落在地板31和墙壁32上并使相应的被照亮区段30a’呈现在图像中。图像40a中的地板31与墙壁32相交的位置用虚线指示,仅用于说明目的;虚线并不存在于所捕获的图像40a中。从所捕获的图像40a中,机器人设备100检测到激光束30a照射在障碍物32上,诸如墙壁、沙发、门等。通过捕获多个图像,机器人设备100能够以高可靠性来识别特定障碍物32。在将要使用不同类型的光源的情况下,甚至可以设想被照亮区段覆盖整个所捕获的图像。使用图1中例示的激光束的优点是需要机器人设备100处理的图像数据的量较少。
如图像40a展示的,由于机器人清洁设备100在处于第一位置P1时在其上移动的表面是平坦且均匀的地板31并且因而不存在高度差,因此,由激光线30a照亮地板31而引起的被照亮区段30a’在图像40a中由单一段构成。
现在,再次参考图1,当机器人清洁设备100移动到第二位置P2时,该机器人清洁设备遇到了台阶向下通向下地板35的门口33。再次,机器人设备100捕获被照亮表面的图像。
图2b展示了当处于第二位置P2时机器人设备100的相机123捕获的图像40b。
在这个图像中,为了说明的目的,激光束30b将落在(上)地板31以及在图像40b中用虚线指示的边沿34上。进一步地,激光束30b落在边沿34外的一部分将入射在下地板35上,这在图像40b中被指示为两个线段;第一段30b’落在上地板31上并且第二段30b”落在下地板35上。
为了说明,图2c示出了当处于位置P2时机器人设备100的侧视图,其中,激光束30a落在上地板31上、越过边沿34、并且落到下地板35上,边沿在该下地板上引起阴影;即下地板35的被边沿34遮住的区段将不会被照亮。图2c中进一步指示了将在所捕获的图像40b中出现的第一线段30b’和第二线段30b”。
因此,参考图3的流程图,提供了一种检测机器人清洁设备100前方的表面的高度差的方法。
如所讨论的,在使用线激光器127具有结构化的竖直光的本示例性实施例中,机器人设备100在步骤S101中用光照亮其前方的表面31并且使用相机123捕获表面的图像。
当机器人设备100处于如图1所示的位置P2时,所捕获的图像将呈现图2b所展示的图像40b的外观。
根据所捕获的图像40b,机器人设备100在步骤S103中检测由发射的激光线30b引起的光亮区段,并且识别表示检测到的光亮区段的第一段30b’和第二段30b”。
现在,在已经在步骤S103中识别出两个段30b’、30b”之后,机器人设备100在步骤S104中根据所识别出的第一段30b’与第二段30b”之间的位置关系来检测表面31的高度差。
有利地,通过测量机器人设备100前方的表面的高度差,可以及时计划机器人设备100在遇到物体或表面之前应该如何移动以便执行清洁程序并且进一步可以避免横越例如门阶(其高度可能太大而使得机器人设备100无法横越)等物体。
在基本实施例中,较不复杂的机器人设备有利地可以实施的是,通过从2D图像40b中得出第一段30b’与第二段30b”不连续的结论,从而检测到机器人设备100在其上移动的地板31的高度差。
如果出现此类不连续,那么机器人设备100得出这样的结论:(下)地板35位于比(上)地板31更低的高度上。然而,如果使用此类方法,那么机器人设备100仅知道存在高度差,但不能评估高度差的高度。
在另一个实施例中,机器人设备100确定第二段30b”是否竖直地位于第一段30b’的下方,在这种情况下,高度差构成边沿。
在进一步实施例中,参考图4a,展示了图2b的所捕获的图像40b的放大视图,机器人设备100确定距边沿34的距离l和边沿34的高度h,高度h被确定为识别出的第一段30b’与第二段30b”之间的竖直距离。
因而,更精细的机器人清洁设备100可以根据x和y图像坐标通过将图像坐标转化为实际的真实世界距离来确定距边沿的距离l以及边沿的高度h。有利地,机器人设备100将知道距边沿34的距离l以及边沿34的高度h。
这种信息可以进一步有利地被用于划分待清洁的区域。例如,机器人设备100可以确定,应该先结束清洁其目前所在的房间,然后移动到下一个房间,即然后从边沿34下降到下地板35。
可以进一步设想,机器人设备100在已经确定边沿34的高度h之后没有从边沿下降。假设例如边沿34的高度h超过预定高度阈值;这表明边沿34之后是阶梯,在这种情况下,机器人设备100被控制成不越过边沿34以避免机器人跌落。
图4b更详细地展示了机器人设备100如何计算距被称为“物体”的点的距离。
点被激光器127照亮以便让相机123看见点。点的图像坐标(以像素测得)在相机123的传感器130上表示为xi,传感器130被布置在适当的透镜131的后方。
在制造机器人清洁设备100期间,执行校准,这涉及如果相机123要观察与相机123相距无限距离的物体那么激光线将照射在相机传感器130的何处,相应坐标被表示为xi,∞。
根据这种信息,可以进行以下演绎:
注意到,这种关系成反比,意味着随着距离物体越远,测量结果就越灵敏。因此,可以计算距给定点的距离D。
图4c展示了可以如何使用图4b的指导来计算物体的高度。
在“真实”世界中平行的线将在图像中的同一点v相交,该点被称为消失点。如果位于地板(机器人100在其上移动)上方高度h处的点p被激光器123照亮,那么可以通过点p和消失点v画出虚线。这条虚线与真实世界中的地板平行。
x坐标xi,0可以在图像中选出,在该坐标处测量地板上方的虚线的高度Δyi。如果总是在相同的坐标xi,0(或至少靠近该坐标)处测量图像中的虚线的高度Δyi,那么比例因数k可以被校准(通常以m/像素为单位)以计算真实世界中的高度h:
h=k×Δyi
图5展示了另一个场景,其中,机器人设备100遇到海拔高度36而不是边沿。例如,可以设想机器人设备100遇到厚的小地毯(其高度可以是几厘米)或门阶。
图6展示了在遇到海拔高度37时机器人设备100的相机123所捕获的图像40c。
在这个图像中,激光束30c将落在机器人设备100前方的地板31上并且进一步落在小地毯的引起海拔高度36的边缘以及上侧37或小地毯上。这将导致在所捕获的图像40c中可以看到三个段30c’、30c”、以及30c”’。
根据图6的所捕获的图像40c,机器人设备100再次检测由发射的激光线30c引起的光亮区段,并且识别第一段30c’、第二段30c”、以及将第一段和第二段连接的另外的第三段30c”’,这些段表示检测到的光亮区段。
现在,在已经识别出第一段30c’和第二段30c”之后,机器人设备100根据所识别出的第一段30c’与第二段30c”之间的位置关系来检测表面31的高度差。
在基本实施例中,较不复杂的机器人设备有利地可以实施的是,通过从2D图像40b中得出第一段30c’与第二段30c”通过第三段30c”’连接的结论,从而检测到机器人设备100在其上移动的地板31的高度差。
如果第一段30c’与第二段30c”之间的此类连接段30c”’存在于所捕获的图像40c中,那么机器人设备100得出这样的结论:小地毯的(上)侧37位于比地板31更高的高度上。然而,如果使用此类方法,那么机器人设备100仅知道存在高度差,但不能评估实际高度。
在另一个实施例中,机器人设备100确定第二段30c”是否竖直地位于第一段30c’的上方,在这种情况下,高度差构成海拔高度。
在另一实施例中,再次参考图6,机器人设备100确定距海拔高度36的距离l以及海拔高度36的高度h,如本文以上描述的。
这种信息可以有利地被用于划分待清洁的区域。例如,机器人设备100可以确定,应该先结束清洁其目前所在的房间的地板,然后向上移动到小地毯上。可替代地,在海拔高度由门阶引起的情况下,机器人设备100可以确定在其跨过门阶进入下一个房间之前该房间即将完成清洁。
可以进一步设想,机器人设备100在已经确定其高度h之后根本没有攀爬小地毯/门阶。假设例如海拔高度的高度h超过预定高度阈值;这可以指示例如门阶太高而爬不上去,以避免使机器人卡在门阶上。
机器人清洁设备100的相机123由例如微处理器等控制器进行控制以便捕获和记录图像,控制器通过从表示被检测物体的图像中提取特征点并且使用如已经讨论的本发明的方法测量从机器人清洁设备100到这些物体的距离以及物体的高度来从图像中创建机器人清洁设备100正在其中进行操作的周围环境的表示或布局。同时,机器人清洁设备100在待清洁表面上移动。因此,控制器从所记录的图像中的被检测物体中得到机器人清洁设备100相对于待清洁表面的位置数据,从得到的位置数据中生成周围环境的3D表示,并且控制驱动马达来使机器人清洁设备100根据生成的3D表示以及提供给机器人清洁设备100的导航信息而在待清洁表面上移动,使得可以在考虑到所生成的3D表示的情况下对有待清洁的表面进行自主导航。因为得到的位置数据会用作机器人清洁设备的导航基础,所以定位正确是重要的;否则,机器人设备会根据误导的其周围环境的“地图”来导航。
从相机123记录的图像中生成的3D表示因此帮助对墙壁、落地灯、桌腿形式的、机器人清洁设备必须在其周围导航的障碍物以及机器人清洁设备100必须横越的小地毯、地毯、门阶等进行检测。机器人清洁设备100因此被配置为通过运行/清洁来了解其环境或者周围环境。
机器人清洁设备100可以有利地将检测到的边沿和海拔高度的指示添加到所创建的其周围环境的表示中。因此,通过向所创建的表示添加例如边沿34的指示,机器人清洁设备可以预先规划好将要走的清洁路径、并且进一步非常靠近且沿着边沿34移动,因为其包括在机器人清洁设备100的周围环境中。
尽管设想了本发明可以通过配备有足够的处理智能的各种适当的机器人清洁设备来执行,但是图7以底视图示出了根据本发明的实施例的机器人清洁设备100,即,示出了机器人清洁设备的底侧。箭头指示以机器人真空吸尘器的形式展示的机器人清洁设备100的前向方向。
机器人清洁设备100包括主体111,该主体容纳诸如推进系统等部件,该推进系统包括呈能够使驱动轮112、113移动的两个电动轮马达115a、115b形式的驱动装置,从而使得清洁设备能够在待清洁表面上移动。每个轮马达115a、115b能够控制各自的驱动轮112、113彼此独立地旋转以使机器人清洁设备100移过待清洁表面。可以设想许多不同的驱动轮装置以及各种轮马达装置。应当注意的是,机器人清洁设备可以具有任何适当的形状,比如具有更传统的圆形主体或者三角形主体的设备。作为替代方案,可以使用跟踪推进系统或甚至气垫船推进系统。该推进系统可以进一步被布置以使机器人清洁设备100执行偏摆、俯仰、平移或滚动移动中的任一种或多种。
控制器116(诸如微处理器)鉴于从障碍物检测设备(图7中未示出)接收的信息来控制这些轮马达115a、115b根据需要使驱动轮112、113旋转,该障碍物检测设备用于检测机器人清洁设备必须绕其导航的呈墙壁、落地灯、桌腿形式的障碍物。障碍物检测设备可以以登记其周围环境借助于例如3D相机、与激光器、激光扫描仪组合的相机实现的3D传感器系统等形式被实施,用于检测障碍物并将关于任何检测到的障碍物的信息传达到微处理器116。微处理器116与轮马达115a、115b通信,以便根据由障碍物检测设备提供的信息来控制轮112、113的移动,使机器人清洁设备100能够根据需要在待清洁表面上移动。
进一步地,主体111可以可选地布置有用于从待清洁表面上除去碎屑和灰尘的清洁构件117,该清洁构件呈布置在机器人吸尘器100的底部处的开口118中的可旋转刷辊的形式。因此,可旋转刷辊117沿水平轴线布置在开口118中,以增强机器人清洁设备100的灰尘和碎屑收集特性。为了使刷辊117旋转,刷辊马达119可操作地联接到刷辊上,以根据从控制器116接收的指令控制其旋转。
而且,机器人吸尘器100的主体111包括抽风机20,该抽风机创造气流以便经由主体111的底侧中的开口118将碎屑运输到被容纳在所述主体中的集尘袋或旋流器装置(未示出)。抽风机120由通信地连接到控制器116上的风机马达121驱动,风机马达121从该控制器接收用于控制抽风机120的指令。应注意的是,可以设想具有可旋转刷辊117和抽风机20中的任一者以便将碎屑运送到集尘袋的机器人清洁设备。然而,这两者的组合将增强机器人清洁设备100的除屑能力。
机器人清洁设备100的主体111可以进一步配备有惯性测量单元(IMU)124,如陀螺仪和/或加速度计和/或磁力计或任何其他适合的装置,用于测量机器人清洁设备100相对于参考位置的、呈例如取向、旋转速度、重力等形式的位移。三轴陀螺仪能够测量机器人清洁设备100的滚动、俯仰、及偏摆移动的转速。三轴加速度计能够测量所有方向的加速度,这主要用来判定机器人清洁设备是否被阻挡或被抬升或是否被卡住(即,即使轮子正在转动但并没有移动)。机器人清洁设备100在每个驱动轮112、113上进一步包括编码器(在图7中未示出),在这些轮子转动时所述编码器产生脉冲。编码器可以例如是磁性的或光学的。通过在控制器116处对脉冲进行计数,可以确定每个轮112、113的速度。通过将轮速读数与陀螺仪信息相结合,控制器116可以执行所谓的航位推算以确定清洁设备100的位置和航向。
主体111可以进一步布置有邻近开口118的旋转侧刷114,可以通过驱动马达115a、115b、刷辊马达119、或可替代地单独的侧刷马达(未示出)来控制旋转侧刷的旋转。有利地,旋转侧刷114从待清洁表面扫起碎屑和灰尘,从而使得碎屑在开口118处最终来到主体111的下方,并因此能够运输到机器人清洁设备的集尘室。进一步有利的是,将提高机器人清洁设备100的到达率,并更有效地清洁例如拐角和地板与墙壁交汇的区域。如图7所展示的,旋转侧刷114在一个方向上旋转,使得该旋转侧刷朝向开口118扫起碎屑,从而使得抽风机20能够将碎屑运输到集尘室。机器人清洁设备100可以包括两个旋转侧刷,这两个旋转侧刷被侧向地布置在开口118的每一侧并邻近该开口。
另外参照图7,以一个或多个微处理器形式实施的控制器/处理单元116被布置为执行被下载到与微处理器相关联的合适的存储介质126中的计算机程序125,该存储介质例如是随机存取存储器(RAM)、快闪存储器或硬盘驱动器。控制器116被布置用于当包括计算机可执行指令的适当计算机程序125被下载至存储介质126并且被控制器116执行时实施根据本发明的实施例的方法。存储介质126还可以是包括计算机程序125的计算机程序产品。可替代地,计算机程序125可以借助于合适的计算机程序产品(诸如数字化通用磁盘(DVD)、光盘(CD)或者记忆棒)来传递至存储介质126。作为进一步替代方案,计算机程序125可以通过有线或无线网络下载至存储介质126。控制器116可以可替代地以数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)、复杂可编程逻辑器件(CPLD)等的形式来实施。
如已经提及的,通过测量机器人设备100前方的表面的高度差,有利地可以及时计划机器人设备100应该如何移动以便执行清洁程序。
参考图7,通过检测机器人清洁设备100前方的物体或表面(例如厚的小地毯)的高度,机器人100可以被控制成沿小地毯的周边移动,由此有效使用侧刷114。在已经沿小地毯的周边清洁之后,机器人清洁设备100可以向上移动到小地毯上,该机器人清洁设备通常在该小地毯上不使用侧刷114。而是,机器人100可以使可旋转刷辊117在向前方向和向后方向上交替地旋转,以避免小地毯的纤维缠到刷辊117中。因此,刷辊117和任何(多个)侧刷114的移动可以有利地通过考虑机器人清洁设备100前方的表面和物体的确定的高度来进行控制。图8示出了本发明的实施例中的图7的机器人清洁设备100的前视图,展示了呈3D传感器系统形式的前述障碍物检测设备,该传感器系统包括至少一个相机123以及第一和第二线激光器127、128,这些线激光器可以是水平或竖直定向的线激光器。进一步示出了前面参照图6讨论的控制器116、主体111、驱动轮112、113和可旋转刷辊117。控制器116可操作地联接到用于记录机器人清洁设备100的附近的图像的相机123。第一线激光器和第二线激光器127、128可以优选地是竖直线激光器并且被布置在相机123的侧面并且被配置为照亮比机器人清洁设备100的高度和宽度更大的高度和宽度。此外,相机123的视场角度优选地小于第一线激光器和第二线激光器127、128照亮的空间。相机123由控制器116来控制以每秒采集和记录多张图像。通过控制器116从这些图像中提取数据,并且通常将数据与计算机程序125一起保存在存储器126中。
第一线激光器和第二线激光器127、128通常沿着垂直于相机的光轴的轴线被布置在相机123的相应侧上。进一步地,线激光器127、128被定向成使得它们的相应激光束在相机123的视场内相交。典型地,交点与相机123的光轴重合。
第一线激光器和第二线激光器127、128被配置为优选地朝竖直朝向、正常朝机器人清洁设备100的移动方向扫描机器人清洁设备100的附近。第一线激光器和第二线激光器127、128被配置为发出照亮例如待清洁房间里的家具、墙壁和其他物体的激光束。在机器人清洁设备100在待清洁表面上移动时,相机123被控制器116控制,以捕捉并记录图像,通过从这些图像提取特征并通过测量被机器人清洁设备100覆盖的距离,控制器116从这些图像创建机器人清洁设备100在其中操作的周围环境的表示或布局。因此,控制器116从所记录的图像中得到机器人清洁设备100相对于待清洁表面的位置数据、从得到的位置数据中生成周围环境的3D表示、并且控制驱动马达115a、115b使机器人清洁设备根据提供给机器人清洁设备100的生成的3D表示和导航信息而在待清洁表面上移动,使得能够在考虑到所生成的3D表示的情况下对有待清洁的表面导航。因为得到的位置数据会用作机器人清洁设备的导航基础,所以定位正确是重要的;否则,机器人设备会根据误导的其周围环境的“地图”来导航。
从3D传感器系统记录的图像中生成的3D表示因此帮助对墙壁、落地灯、桌腿形式的、机器人清洁设备必须在其周围导航的障碍物以及机器人清洁设备100必须横越的小地毯、地毯、门阶等进行检测。机器人清洁设备100因此被配置为通过运行/清洁来了解其环境或者周围环境。
因此,包括相机123和第一竖直线激光器和第二竖直线激光器127、128的3D传感器系统被布置为记录机器人清洁设备的附近的图像,可以从这些图像检测到物体/障碍物。控制器116能够通过从所记录的图像中得到位置数据来相对于检测到的障碍物对机器人清洁设备100并且因此对有待清洁的表面进行定位。从定位开始,控制器116借助于经由轮子驱动马达115a、115b控制轮子112、113跨过待清洁表面来控制机器人清洁设备100的移动。
得到的位置数据帮助控制机器人清洁设备100的移动,使得清洁设备可以被导航移动非常靠近物体,并且在物体周围紧密移动,以从物体所在的表面上除去碎屑。所以,利用得到的位置数据来与物体(例如是椅子、桌子、沙发、厚的小地毯或墙壁)齐平地移动。通常,控制器116经由驱动马达115a、115b连续生成并传递控制信号至驱动轮112、113,使得对机器人清洁设备100导航靠近物体。
还应注意,虽然已经在使用相机和一个或两个线激光器来照亮机器人清洁设备100在其上移动的表面的背景下讨论了本发明的实施例,但是还可以使用利用被完全照亮的图像的飞行时间测量的已知3D传感器。使用这种飞行时间3D传感器,将针对每个像素来确定所捕获的图像中的距离,并且可以根据以上内容来确定距被检测物体的距离。
以上已经主要参照一些实施例描述了本发明。然而,如本领域技术人员容易理解的,除了以上披露的实施例之外的其他实施例在如由所附专利权利要求所限定的本发明的范围内同样是可能的。
Claims (15)
1.一种用于机器人清洁设备(10)检测该机器人清洁设备前方的表面(31)的高度差的方法,该方法包括:
用光(30b)照亮(S101)该表面;
捕获(S102)该表面的图像(40b);
检测(S103)所捕获的图像(40b)中由该光(30b)引起的光亮区段;
识别(S104)表示所检测到的光亮区段的至少第一段(30b’)和第二段(30b”);以及
根据所识别出的第一段与第二段(30b’,30b”)之间的位置关系来检测(S104)该表面(31)的高度差。
2.如权利要求1所述的方法,其中,根据所识别出的第一段与第二段(30b’,30b”)之间的位置关系来检测(S104)该表面(31)的高度差包括:
检测到所捕获的图像(40b)中在所识别出的第一段与第二段(30b’,30b”)之间出现不连续,其中,该高度差被检测为包括边沿(34)。
3.如权利要求1或2所述的方法,其中,根据所识别出的第一段与第二段(30b’,30b”)之间的位置关系来检测(S104)该表面(31)的高度差包括:
检测到在所捕获的图像(40c)中将所识别出的第一段和第二段(30c’,30c”)连接的第三段(30c”’),其中,该高度差被检测为包括海拔高度(36)。
4.如以上权利要求中任一项所述的方法,其中,根据所识别出的第一段与第二段(30b’,30b”)之间的位置关系来检测(S104)该表面(31)的高度差包括:
检测到所识别出的第二段(30b”)在所捕获图像(40b)中竖直地位于所识别出的第一段(30b’)的下方,其中,该高度差被检测为包括边沿(34)。
5.如以上权利要求中任一项所述的方法,其中,根据所识别出的第一段与第二段(30b’,30b”)之间的位置关系来检测(S104)该表面(31)的高度差包括:
检测到所识别出的第二段(30c”)在所捕获的图像(40c)中竖直地位于所识别出的第一段(30c’)的上方,其中,该高度差被检测为包括海拔高度(36)。
6.如以上权利要求中任一项所述的方法,其中,根据所识别出的第一段与第二段(30b’,30b”)之间的位置关系来检测(S104)该表面(31)的高度差包括:
根据所捕获的图像的坐标来确定距所识别出的第一段(30b’)的近端的距离(l)以及所识别出的第一段与第二段(30b’,30b”)之间的竖直距离,该竖直距离构成所检测出的高度差的高度(h)。
7.一种被配置用于检测机器人清洁设备(100)前方的表面(31)的高度差的机器人清洁设备,该机器人清洁设备包括:
推进系统(112,113,115a,115b),该推进系统被配置用于使该机器人清洁设备(100)移动;
相机装置(123),该相机装置被配置用于记录该机器人清洁设备的附近的图像;
至少一个光源(127),该至少一个光源被配置用于照亮该机器人清洁设备前方的表面;以及
控制器(116),该控制器被配置用于:
控制该至少一个光源(127)照亮该机器人清洁设备(100)前方的表面;
控制该相机装置(123)捕获被照亮表面的图像(40b);
检测所捕获的图像(40b)中的由照亮该表面的至少一个光源(123)引起的光亮区段;
识别表示所检测到的光亮区段的至少第一段(30b’)和第二段(30b”);以及
根据所识别出的第一段与第二段(30b’,30b”)之间的位置关系来检测该表面(31)的高度差。
8.如权利要求7所述的机器人清洁设备(100),该控制器(116)被进一步配置用于:当根据所识别出的第一段与第二段(30b’,30b”)之间的位置关系来检测该表面(31)的高度差时,
检测到所捕获的图像(40b)中在所识别出的第一段与第二段(30b’,30b”)之间出现不连续,其中,该高度差被检测为包括边沿(34)。
9.如权利要求7或8所述的机器人清洁设备(100),该控制器(116)被进一步配置用于:当根据所识别出的第一段与第二段(30b’,30b”)之间的位置关系来检测该表面(31)的高度差时,
检测到在所捕获的图像(40c)中将所识别出的第一段和第二段(30c’,30c”)连接的第三段(30c”’),其中,该高度差被检测为包括海拔高度(36)。
10.如权利要求7至9中任一项所述的机器人清洁设备(100),该控制器(116)被进一步配置用于:当根据所识别出的第一段与第二段(30b’,30b”)之间的位置关系来检测该表面(31)的高度差时,
检测到所识别出的第二段(30b”)在所捕获图像(40b)中竖直地位于所识别出的第一段(30b’)的下方,其中,该高度差被检测为包括边沿(34)。
11.如权利要求7至10中任一项所述的机器人清洁设备(100),该控制器(116)被进一步配置用于:当根据所识别出的第一段与第二段(30b’,30b”)之间的位置关系来检测该表面(31)的高度差时,
检测到所识别出的第二段(30c”)在所捕获的图像(40c)中竖直地位于所识别出的第一段(30c’)的上方,其中,该高度差被检测为包括海拔高度(36)。
12.如权利要求7至11中任一项所述的机器人清洁设备(100),该控制器(116)被进一步配置用于:当根据所识别出的第一段与第二段(30b’,30b”)之间的位置关系来检测该表面(31)的高度差时,
根据所捕获的图像的坐标来确定距所识别出的第一段(30b’)的近端的距离以及所识别出的第一段与第二段(30b’,30b”)之间的竖直距离,该竖直距离构成所检测出的高度差的高度。
13.如权利要求7至12中任一项所述的机器人清洁设备(100),该至少一个光源包括:
被配置用于照亮所述机器人清洁设备附近的第一线激光器和第二线激光器(127,128)。
14.一种计算机程序(125),包括计算机可执行指令以便当这些计算机可执行指令在机器人清洁设备(100)所包括的控制器(116)上执行时,使该机器人清洁设备执行权利要求1-6中任一项所述的步骤。
15.一种计算机程序产品,包括计算机可读介质(126),该计算机可读介质具有在其上实施的根据权利要求14所述的计算机程序(125)。
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US11474533B2 (en) | 2022-10-18 |
EP3629869A1 (en) | 2020-04-08 |
JP7243967B2 (ja) | 2023-03-22 |
JP2020522288A (ja) | 2020-07-30 |
EP3629869B1 (en) | 2023-08-16 |
KR20220025250A (ko) | 2022-03-03 |
WO2018219473A1 (en) | 2018-12-06 |
US20200081451A1 (en) | 2020-03-12 |
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