CN113075925A - Special area management and control system based on cleaning robot - Google Patents
Special area management and control system based on cleaning robot Download PDFInfo
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- CN113075925A CN113075925A CN202110197536.7A CN202110197536A CN113075925A CN 113075925 A CN113075925 A CN 113075925A CN 202110197536 A CN202110197536 A CN 202110197536A CN 113075925 A CN113075925 A CN 113075925A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 55
- 238000012545 processing Methods 0.000 claims abstract description 28
- 230000008014 freezing Effects 0.000 claims abstract description 6
- 238000007710 freezing Methods 0.000 claims abstract description 6
- 230000001276 controlling effect Effects 0.000 claims description 14
- 230000000875 corresponding effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000003786 synthesis reaction Methods 0.000 claims description 2
- 238000007726 management method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention is suitable for the field of computers, and provides a special area management and control system based on a cleaning robot, which comprises: the processing terminal is used for acquiring images captured by the camera; freezing the image, calibrating the frozen image into a plane image, and establishing a plane coordinate system on the plane image; marking the coordinates of the obstacle on a plane coordinate system; transmitting the coordinates of the obstacle; receiving coordinates of the obstacles and making a traveling route; transmitting the traveling route to the driving end; the image collected by the camera is formatted, and a plane coordinate system is established on the image after being formatted, so that the traveling route of the cleaning robot is basically simplified into a two-dimensional route on the traveling route, and the time for subsequently formulating the traveling route can be greatly shortened; on one hand, the accuracy of the formulated advancing route is improved, on the other hand, the three-dimensional space is two-dimensionalized, and the speed of formulating the advancing route is improved.
Description
Technical Field
The invention belongs to the field of computers, and particularly relates to a special area management and control system based on a cleaning robot.
Background
In the process of cleaning by the cleaning robot, in addition to the requirement on the cleanliness, sometimes the cleaning range of the cleaning robot needs to be classified, and a 'one-knife-cut' mode cannot be adopted, so that the cleaning robot is required to have the same cleaning efficiency no matter on spacious ground or in a dammed narrow space, which is not preferable, and in different environments to be cleaned where the cleaning robot is located, the positions of obstacles on the ground which have the largest difference are often different, the number of the obstacles is more, and the difficulty of often cleaning on the ground with complicated placement positions is particularly high, so that a management and control system capable of improving the planning of the cleaning robot is urgently needed.
Disclosure of Invention
The embodiment of the invention provides a special area management and control system based on a cleaning robot, and aims to improve the accuracy of the cleaning robot in making a traveling route on a complex road surface with more obstacles.
The embodiments of the present invention are implemented such that,
a special area management and control system based on a cleaning robot comprises:
the processing terminal is used for acquiring images captured by the camera; freezing the image, calibrating the frozen image into a plane image, and establishing a plane coordinate system on the plane image; marking the coordinates of the obstacle on a plane coordinate system; transmitting the coordinates of the obstacle; receiving coordinates of the obstacles and making a traveling route; transmitting the traveling route to the driving end;
the driving end is used for receiving the traveling route and driving the cleaning robot body to move; controlling the cleaning robot body to turn; and controlling the camera to rotate.
The processing end comprises:
the acquisition module is used for acquiring images captured by the camera;
the coordinate system establishing module is used for freezing the image, calibrating the frozen image into a plane image and establishing a plane coordinate system on the plane image;
the marking module is used for marking the coordinates of the barrier on the plane coordinate system;
the transmission module is used for transmitting the coordinates of the obstacle;
the system comprises a making module, a driving module and a driving module, wherein the making module is used for receiving coordinates of obstacles and making a traveling route;
and the transmission module is used for transmitting the traveling route to the driving end.
The drive end includes:
the walking module is used for receiving the walking route and driving the cleaning robot body to move;
the steering module is used for controlling the cleaning robot body to steer;
and the camera module is used for controlling the camera to rotate.
The acquisition module comprises:
a measuring unit for measuring length, height and width information of the obstacle;
the marking module includes:
the position marking unit is used for marking the position information of the obstacle on the plane coordinate system;
a three-dimensional marking unit for marking length, width and height information of the obstacle;
and the synthesis unit is used for integrating the contents marked by the position marking unit and the three-dimensional marking unit into obstacle coordinates, and the obstacle coordinates comprise position information of the obstacle on a plane coordinate system and length, width and height information of the obstacle.
The walking module comprises:
walking single chip unit: the system comprises a processing end, a route receiving end and a route transmitting end, wherein the processing end is used for receiving a traveling route transmitted by the processing end; decomposing the route into a plurality of walking instructions and sending the walking instructions;
a traveling motor unit; the walking device is used for receiving walking instructions; and making corresponding action according to the walking instruction.
The steering module includes:
a steering single chip microcomputer unit: the system comprises a processing end, a route receiving end and a route transmitting end, wherein the processing end is used for receiving a traveling route transmitted by the processing end; extracting a turning point coordinate on the traveling route, and sending a turning point instruction according to the turning point coordinate;
a steering motor unit; the turning point instruction is received; and performing corresponding action according to the turning point instruction.
The invention has the beneficial effects that: according to the invention, the image collected by the camera is formatted, and the planar coordinate system is established on the image after being formatted, so that the traveling route of the cleaning robot is basically simplified into a two-dimensional route on the traveling route, and the time for subsequently formulating the traveling route can be greatly shortened; furthermore, the length, width and height information of the obstacles are continuously calibrated in a two-dimensional coordinate system, and a false three-dimensional model can be established on a plane, so that the obstacles can be avoided more efficiently when a travelling route is formulated, the accuracy of the formulated travelling route is improved on one hand, and the speed of formulating the travelling route is improved by two-dimensionalizing a three-dimensional space on the other hand.
Drawings
FIG. 1 is a diagram of a cleaning robot based system for managing and controlling a specific area;
FIG. 2 is a diagram of the internal structure of a processing end of a cleaning robot-based special area management and control system;
FIG. 3 is a structure diagram of the internal structure of a driving end of a special area management and control system based on a cleaning robot;
FIG. 4 is an internal structure diagram of an acquisition module of a cleaning robot-based special area management and control system;
FIG. 5 is a diagram of the internal structure of a marking module of a cleaning robot-based specific area management and control system;
FIG. 6 is a view of the internal structure of a walking module and a steering module of a special area management and control system based on a cleaning robot;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-3, as an embodiment of the present invention, a cleaning robot-based system for managing and controlling a specific area includes
The processing terminal 100 is used for acquiring images captured by the camera; freezing the image, calibrating the frozen image into a plane image, and establishing a plane coordinate system on the plane image; marking the coordinates of the obstacle on a plane coordinate system; transmitting the coordinates of the obstacle; receiving coordinates of the obstacles and making a traveling route; transmitting the traveling route to the driving end;
the processing terminal 100 includes:
an acquisition module 110, configured to acquire an image captured by a camera;
a coordinate system establishing module 120, configured to freeze the image, calibrate the image that has been frozen into a planar image, and establish a planar coordinate system on the planar image;
a marking module 130 for marking coordinates of the obstacle on the plane coordinate system;
a transfer module 140 for transmitting the coordinates of the obstacle;
the formulating module 150 is used for receiving the coordinates of the obstacles and formulating a traveling route;
and the transmission module 160 is used for transmitting the travel route to the driving end.
When the cleaning robot is placed on the ground, the camera mounted on the cleaning robot captures an image nearby, and a planar coordinate system is established on the image through the processing of the processing terminal 100, since only two coordinates, for example, (10, 20) or (15,70), are required for determining a position in the planar coordinate system, while the coordinate system in the existing common cleaning robot is a three-dimensional coordinate system, although at one position, the three-dimensional coordinate system has one more coordinate in the vertical direction than the two-dimensional coordinate system, when the cleaning robot needs to clean in a larger range, the calculation amount and the model establishment time increase in an exponential explosion manner.
Furthermore, after the plane coordinate system is established, the coordinates of the obstacles in the space to be cleaned are marked separately, and when a travelling route is determined, the coordinates of the obstacles are avoided, so that a safe and feasible travelling route can be obtained quickly on the two-dimensional plane coordinate system, and relatively speaking, only the two-dimensional coordinates of the positions where the obstacles are located are subjected to three-dimensionality, specifically, if the point A is the point where the obstacles are located, only the point A is subjected to three-dimensionality and is the point originally located on the two-dimensional plane coordinate system, (10., (20), (10,20,30), so that the information of the obstacles can be more specialized, the calculation amount of the system can be reduced as much as possible, and the efficiency of the generated route is improved.
The driving end 200 is used for driving the cleaning robot body to move; controlling the cleaning robot body to turn; and controlling the camera to rotate.
The driving end 200 includes:
the walking module 210 is used for driving the cleaning robot body to move;
a steering module 220 for controlling the cleaning robot body to steer;
and the camera module 230 is used for controlling the camera to rotate.
After the traveling route is set, the cleaning robot can be driven by the driving end to move along the traveling route, and the cleaning robot cannot touch the obstacle in the moving process, so that the feasibility of the design is improved.
Referring to fig. 4 and 5, as an embodiment of the present invention, the acquisition module 110 includes: and a measuring unit 111 for measuring length, height and width information of the obstacle.
The marking module 130 includes:
a position marking unit 131 for marking position information where the obstacle is located on the plane coordinate system;
a three-dimensional marking unit 132 for marking length, width and height information of the obstacle;
and a synthesizing unit 133 for integrating the contents marked by the position marking unit and the three-dimensional marking unit into obstacle coordinates including position information of the obstacle on a plane coordinate system and length, width and height information of the obstacle itself.
The length, the width and the height of the obstacles are respectively used as information to be calibrated on the positions of the obstacles on a two-dimensional plane coordinate system, a virtual three-dimensional model can be established by using the length, the width and the height information of the obstacles, the three-dimensional operation on the obstacles is independently increased, the route for avoiding the three-dimensional obstacles is calculated, and the working efficiency of the cleaning robot can be effectively improved.
Referring to fig. 6, the walking module 210 includes:
walking single-chip microcomputer unit 211: the system comprises a processing end, a route receiving end and a route transmitting end, wherein the processing end is used for receiving a traveling route transmitted by the processing end; decomposing the route into a plurality of walking instructions and sending the walking instructions;
a traveling motor unit 212; the walking device is used for receiving walking instructions; and making corresponding action according to the walking instruction.
The steering module 220 includes:
steering one-chip microcomputer unit 221: the system comprises a processing end, a route receiving end and a route transmitting end, wherein the processing end is used for receiving a traveling route transmitted by the processing end; extracting a turning point coordinate on the traveling route, and sending a turning point instruction according to the turning point coordinate;
a steering motor unit 222; the turning point instruction is received; and performing corresponding action according to the turning point instruction.
The zigzag traveling route can be decomposed into a plurality of sections of straight lines and a plurality of turning points by decomposing and reading the traveling route through the single chip microcomputer, when the traveling route is on the straight line section, the traveling motor unit 212 drives the whole cleaning robot to move, and when the turning points are met, the whole cleaning robot body is controlled to turn through the turning motor unit 222, the cleaning robot can move along the straight lines, and the operation is repeated until the whole cleaning work is completed.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A special area management and control system based on a cleaning robot is characterized by comprising:
the processing terminal is used for acquiring images captured by the camera; freezing the image, calibrating the frozen image into a plane image, and establishing a plane coordinate system on the plane image; marking the coordinates of the obstacle on a plane coordinate system; transmitting the coordinates of the obstacle; receiving coordinates of the obstacles and making a traveling route; transmitting the traveling route to the driving end;
the driving end is used for receiving the traveling route and driving the cleaning robot body to move; controlling the cleaning robot body to turn; and controlling the camera to rotate.
2. The cleaning robot-based special area management and control system according to claim 1, wherein the processing terminal comprises:
the acquisition module is used for acquiring images captured by the camera;
the coordinate system establishing module is used for freezing the image, calibrating the frozen image into a plane image and establishing a plane coordinate system on the plane image;
the marking module is used for marking the coordinates of the barrier on the plane coordinate system;
the transmission module is used for transmitting the coordinates of the obstacle;
the system comprises a making module, a driving module and a driving module, wherein the making module is used for receiving coordinates of obstacles and making a traveling route;
and the transmission module is used for transmitting the traveling route to the driving end.
3. The cleaning robot-based special area management and control system according to claim 1, wherein the driving end comprises:
the walking module is used for receiving the walking route and driving the cleaning robot body to move;
the steering module is used for controlling the cleaning robot body to steer;
and the camera module is used for controlling the camera to rotate.
4. The cleaning robot-based special area management and control system according to claim 2, wherein the collection module comprises:
and the measuring unit is used for measuring the length, height and width information of the obstacle.
5. A cleaning robot-based special area management and control system according to claim 2, wherein the marking module comprises:
the position marking unit is used for marking the position information of the obstacle on the plane coordinate system;
a three-dimensional marking unit for marking length, width and height information of the obstacle;
and the synthesis unit is used for integrating the contents marked by the position marking unit and the three-dimensional marking unit into obstacle coordinates, and the obstacle coordinates comprise position information of the obstacle on a plane coordinate system and length, width and height information of the obstacle.
6. The cleaning robot-based special area management and control system according to claim 3, wherein the walking module comprises:
walking single chip unit: the system comprises a processing end, a route receiving end and a route transmitting end, wherein the processing end is used for receiving a traveling route transmitted by the processing end; decomposing the route into a plurality of walking instructions and sending the walking instructions;
a traveling motor unit; the walking device is used for receiving walking instructions; and making corresponding action according to the walking instruction.
7. The cleaning robot-based special area management and control system of claim 6, wherein the steering module comprises:
a steering single chip microcomputer unit: the system comprises a processing end, a route receiving end and a route transmitting end, wherein the processing end is used for receiving a traveling route transmitted by the processing end; extracting a turning point coordinate on the traveling route, and sending a turning point instruction according to the turning point coordinate;
a steering motor unit; the turning point instruction is received; and performing corresponding action according to the turning point instruction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110197536.7A CN113075925A (en) | 2021-02-22 | 2021-02-22 | Special area management and control system based on cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110197536.7A CN113075925A (en) | 2021-02-22 | 2021-02-22 | Special area management and control system based on cleaning robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103413313A (en) * | 2013-08-19 | 2013-11-27 | 国家电网公司 | Binocular vision navigation system and method based on power robot |
| CN109048926A (en) * | 2018-10-24 | 2018-12-21 | 河北工业大学 | A kind of intelligent robot obstacle avoidance system and method based on stereoscopic vision |
| CN111046743A (en) * | 2019-11-21 | 2020-04-21 | 新奇点企业管理集团有限公司 | Obstacle information labeling method and device, electronic equipment and storage medium |
| CN111521184A (en) * | 2020-04-13 | 2020-08-11 | 轻客小觅机器人科技(成都)有限公司 | Map building method, device and system of sweeping robot |
| CN111767843A (en) * | 2020-06-29 | 2020-10-13 | 北京百度网讯科技有限公司 | Three-dimensional position prediction method, device, equipment and storage medium |
-
2021
- 2021-02-22 CN CN202110197536.7A patent/CN113075925A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103413313A (en) * | 2013-08-19 | 2013-11-27 | 国家电网公司 | Binocular vision navigation system and method based on power robot |
| CN109048926A (en) * | 2018-10-24 | 2018-12-21 | 河北工业大学 | A kind of intelligent robot obstacle avoidance system and method based on stereoscopic vision |
| CN111046743A (en) * | 2019-11-21 | 2020-04-21 | 新奇点企业管理集团有限公司 | Obstacle information labeling method and device, electronic equipment and storage medium |
| CN111521184A (en) * | 2020-04-13 | 2020-08-11 | 轻客小觅机器人科技(成都)有限公司 | Map building method, device and system of sweeping robot |
| CN111767843A (en) * | 2020-06-29 | 2020-10-13 | 北京百度网讯科技有限公司 | Three-dimensional position prediction method, device, equipment and storage medium |
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