CN113110095A - HomeMap construction method and system based on sweeping robot - Google Patents
HomeMap construction method and system based on sweeping robot Download PDFInfo
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- CN113110095A CN113110095A CN202110547145.3A CN202110547145A CN113110095A CN 113110095 A CN113110095 A CN 113110095A CN 202110547145 A CN202110547145 A CN 202110547145A CN 113110095 A CN113110095 A CN 113110095A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The invention relates to the field of smart home, in particular to a HomeMap construction method and a HomeMap construction system based on a sweeping robot. The method for constructing the HomeMap comprises the following steps: acquiring a room floor type graph of a user room to form a control floor type graph; marking equipment shape information on corresponding intelligent household equipment; the sweeping robot moves and scans to obtain a scanned house type graph; the sweeping robot extracts equipment shape information and equipment position information; the construction module marks the device shape information on the scanning user type graph to obtain a HomeMap; and the equipment shape information of each intelligent household equipment displayed in the HomeMap controls each intelligent household equipment. The HomeMap construction system applies the HomeMap construction method, can skillfully utilize the sweeping robot to accurately extract the position information of each intelligent household device in a user room, and can realize automatic HomeMap construction without manual participation.
Description
Technical Field
The invention relates to the field of smart home, in particular to a HomeMap construction method and a HomeMap construction system based on a sweeping robot.
Background
The smart home can connect various smart home devices in the home of the user, such as an air conditioner, an audio and video device, a lighting system, a curtain control system, a security system, a network appliance and the like, to the mobile phone through smart home application programs installed in portable mobile terminals such as the mobile phone, when the user wants to control a certain smart home device, the smart home application program on the mobile phone can be opened, and the user can click a control interface entering the smart home device to control the electronic device.
Compared with the mode of controlling the intelligent household equipment through an infrared or Bluetooth remote controller or an equipment operation panel, the mode of controlling the intelligent household equipment through the intelligent household application program has the advantages of being free from region limitation and capable of realizing remote rapid control; however, the control interface of the existing control system of the smart home application program is still displayed in a list, and a user only knows the name and the working data or the text information of the smart home device during control operation, but cannot intuitively know the working state information of the device and the specific position and other information in a home, so that when the number of the smart home devices arranged in a home space exceeds a certain number, the user hardly knows the specific position information of each smart home device, and cannot quickly distinguish the smart home device and the specific application scene thereof, which causes that the user is not fast, accurate, intuitive and convenient when controlling the smart home devices.
With the development of smart home technology, there is also a technology for matching a house type graph with smart home application scene position information and controlling smart home devices in the prior art, for example, a chinese patent with patent application publication No. CN107819652A, which discloses a method and an apparatus for controlling smart home devices, which can obtain a house type graph of a user room; acquiring the position of each intelligent household device in the room type graph; generating an equipment-type graph, wherein the equipment-type graph is used for displaying the identification of each intelligent household equipment at the position of each intelligent household equipment in the room-type graph; controlling each intelligent household device through the identifier of each intelligent household device displayed in the device house type diagram; the intelligent home devices in the same user room can be controlled in the device house type diagram without entering respective control interfaces, and the operation steps of controlling the intelligent home devices by the user are simplified. However, in the technology of the patent application, when the position information of the smart home device is matched with the house type diagram, manual participation is required, the smart home device at the default position is manually set at the corresponding position of the house type diagram according to the actual placement position of the smart home device, the building process of the house type diagram of the device cannot be automated, a large number of input operations are required for a user, and the accuracy of the input information is difficult to guarantee, so that the actual application effect of the intelligent control method and device is not ideal.
Disclosure of Invention
In view of the above defects, the invention aims to provide a HomeMap construction method and a HomeMap construction system based on a sweeping robot, which skillfully utilize scanning mobile position information of the sweeping robot when scanning a user room, accurately scan and extract position information of each intelligent home device in the user room, and can realize automatic HomeMap construction without manual participation.
In order to solve the technical problem, the invention discloses a method for constructing a HomeMap based on a sweeping robot in a first aspect, which comprises the following steps:
acquiring a room layout of a user room, and importing the room layout into a map interface of a building module to form a control layout;
marking equipment shape information on corresponding intelligent household equipment according to the shape of the intelligent household equipment;
the sweeping robot moves and scans in a user room according to a movement rule, a positioning server obtains scanning movement position information of the sweeping robot according to a positioning terminal installed on the sweeping robot, and a scanned floor pattern graph is obtained in a control floor pattern graph;
the method comprises the steps that in the moving scanning process of a sweeping robot in a user room, equipment shape information and equipment position information of intelligent household equipment in the user room are extracted;
the construction module marks the device shape information corresponding to the intelligent household equipment on the scanned household graph according to the scanned mobile position information and the device position information, and clears the other area scanning information without the intelligent household equipment shape information to obtain a HomeMap;
and the equipment shape information of each intelligent household equipment displayed in the HomeMap controls each intelligent household equipment.
As an alternative embodiment, in an aspect of the present invention, a room-floor map of a user room is obtained, including:
acquiring user room address information;
and acquiring a user room layout drawing through a developer or the Internet according to the user room address information, wherein the user room layout drawing comprises a two-dimensional layout drawing or a three-dimensional layout drawing.
As an optional implementation manner, in an aspect of the present invention, marking device shape information on a corresponding smart home device according to a shape of the smart home device, and extracting device shape information and device position information of the smart home device in a user room during a moving scanning process of a sweeping robot in the user room includes:
setting an equipment shape recognition module according to the three-dimensional shape or the occupied two-dimensional shape of the intelligent equipment, wherein the equipment shape information comprises the equipment name, the area, the volume and/or the shape;
the equipment shape equipment module is a scanning code label or an induction chip;
the sweeping robot scans the scanning code label by moving close to the scanning code label or senses the scanning code label by moving close to the scanning code label, and the sensing chip identifies and extracts the shape information of the equipment.
As an optional implementation manner, in an aspect of the present invention, the sweeping robot moves and scans in the user room according to the movement rule, the positioning server obtains the scanning movement position information of the sweeping robot according to the positioning terminal installed on the sweeping robot, and obtains a scanned floor pattern diagram in the control floor pattern diagram; the method comprises the following steps:
the scanned floor plan is a two-dimensional map;
the sweeping robot scans by adopting a scanning radar to obtain a two-dimensional scanning house type image.
As an optional implementation manner, in an aspect of the present invention, the sweeping robot moves and scans in the user room according to the movement rule, the positioning server obtains the scanning movement position information of the sweeping robot according to the positioning terminal installed on the sweeping robot, and obtains a scanned floor pattern diagram in the control floor pattern diagram; the method comprises the following steps:
the scanned house-type diagram is a three-dimensional diagram;
the sweeping robot scans image information by adopting a camera module, and generates the scanning house-type picture with the live-action picture according to the scanning moving position information and the image information.
As an optional implementation manner, in an aspect of the present invention, the building module identifies device shape information corresponding to the smart home device on the scanned floor plan by scanning the mobile location information and the device location information, and clears other area scanning information without the smart home device shape information to obtain a HomeMap; the method comprises the following steps:
according to the scanning mobile position information, marking an occupied two-dimensional shape in the equipment shape information of the intelligent household equipment at a position corresponding to the scanning house type graph; and comparing the scanned house type graph with the control house type graph, and clearing an area without the shape information of the intelligent household equipment except the two-dimensional shape mark by taking the peripheral shape of the control house type graph as a standard.
As an optional implementation manner, in an aspect of the present invention, the building module identifies device shape information corresponding to the smart home device on the scanned floor plan according to the scanned mobile location information and the device location information, and clears other area scanning information without the smart home device shape information to obtain a HomeMap; the method comprises the following steps:
marking a three-dimensional shape in the equipment shape information of the intelligent household equipment at a position corresponding to the scanned house type graph according to the scanned mobile position information; and comparing the scanned house type picture with the control house type picture, clearing an area without the shape information of the intelligent household equipment except the three-dimensional shape mark by taking the peripheral shape of the control house type picture as a standard, and replacing the live-action picture of the cleared area with the wall picture of the house type picture.
The invention discloses a HomeMap construction system, which comprises a house type map acquisition and import module, a positioning server, a construction module and a control module, wherein a positioning terminal and a camera module are installed on a sweeping robot in a user room, and intelligent household equipment placed in the room is provided with an equipment shape identification module, wherein:
the family pattern acquisition and import module is used for acquiring a room family pattern of a user room and importing the room family pattern into the construction module;
the positioning server is used for acquiring scanning moving position information of the sweeping robot and controlling the sweeping robot to move in a user room according to the positioning terminal;
the sweeping robot is used for moving in the room according to rules;
the camera module is used for dynamically shooting live-action pictures in a room in the moving process of the sweeping robot;
the device shape identification module is used for storing or linking device shape information stored in the cloud;
the sensing module is used for extracting the equipment shape information in the equipment shape recognition module;
the building module is used for forming a control house type graph according to the house type graph, obtaining a scanned house type graph according to the scanning movement position information of the sweeping robot, and building a HomeMap according to the marking condition of the equipment shape information on the scanned house type graph;
the control module acquires the control authority of the intelligent home equipment through the HomeMap, and controls the intelligent home equipment through the equipment shape information of the intelligent home equipment displayed in the HomeMap.
The third aspect of the present invention discloses another HomeMap construction system, which includes:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
acquiring a room layout of a user room, and importing the room layout into a map interface of a building module to form a control layout;
marking equipment shape information on corresponding intelligent household equipment according to the shape of the intelligent household equipment;
the sweeping robot moves and scans in a user room according to a movement rule, a positioning server obtains scanning movement position information of the sweeping robot according to a positioning terminal installed on the sweeping robot, and a scanned floor pattern graph is obtained in a control floor pattern graph;
the method comprises the steps that in the moving scanning process of a sweeping robot in a user room, equipment shape information and equipment position information of intelligent household equipment in the user room are extracted;
the construction module marks the device shape information corresponding to the intelligent household equipment on the scanned household graph according to the scanned mobile position information and the device position information, and clears the other area scanning information without the intelligent household equipment shape information to obtain a HomeMap;
and the equipment shape information of each intelligent household equipment displayed in the HomeMap controls each intelligent household equipment.
The fourth aspect of the present invention discloses a computer-readable storage medium, which stores computer instructions, and is characterized in that the computer instructions, when executed by a processor, are steps in any one of the HomeMap construction method based on a sweeping robot disclosed in the first aspect of the present invention.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the HomeMap construction method is based on a sweeping robot moving scanning technology in a user room, can automatically and accurately scan and extract the position information of each intelligent household device in the user room, then matches the position information of the intelligent household device to an indoor type graph to form a visual interface, and after the control interface obtains the control authority of the intelligent household device, a user can directly control the intelligent household device through the visual interface; the HomeMap construction system enables the HomeMap construction operation to completely realize automatic operation by applying the HomeMap construction method, and a user does not need to input a large amount of position information in the construction process, so that the HomeMap construction efficiency and accuracy are greatly improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a HomeMap construction method based on a sweeping robot disclosed by the embodiment of the invention;
fig. 2 is a schematic flow chart of another method for constructing a HomeMap based on a sweeping robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another HomeMap construction method based on a sweeping robot, which is disclosed by the embodiment of the invention;
FIG. 4 is a schematic structural diagram of a HomeMap construction system disclosed in the embodiments of the present invention;
FIG. 5 is a schematic diagram of the room floor plan configuration in accordance with an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of the control floor plan displayed in the map interface after the room floor plan shown in FIG. 5 is imported into the building module;
fig. 7 is a schematic structural view of a scanned house layout obtained after the control house layout shown in fig. 6 is scanned by the sweeping robot;
fig. 8 is a schematic structural diagram of the scanned house type diagram shown in fig. 7 after device shape information corresponding to the smart home device is marked on the scanned house type diagram;
fig. 9 is a schematic structural diagram of a display interface of the HomeMap obtained after clearing scanning information of other areas without intelligent home device shape information in the scanned user-type diagram in fig. 8.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "including" and "having," and any variations thereof, in the description and claims of this invention and the above-described drawings are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, article, or article that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or article.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The HomeMap is displayed on a software interface, a space distribution graph is established by acquiring a user type graph of a specified space, and the identification or other operation information of each intelligent household device is displayed in the space distribution graph aiming at the position of each intelligent household device.
In order to better understand the method and the system for constructing the HomeMap based on the sweeping robot, an application scenario to which the method described in the present invention is applicable is first described. As shown in fig. 5 to 9, in an embodiment of the present invention, a room floor plan shown in fig. 5 is obtained, and then the room floor plan is imported into a building model block map interface to form a control floor plan shown in fig. 6, in the floor plan shown in fig. 6, under an automatic scanning operation of the sweeping robot, a scanning floor plan shown in fig. 7 is obtained, and a diagonal line in the scanning floor plan marks an area where articles are displayed in a user room; the sweeping robot can actively and accurately identify the intelligent home equipment at each position in the scanning process, and marks the intelligent home equipment in a scanned house type graph to obtain a graphical interface shown in figure 8, wherein a grid marked area in the graphical cross section is an area where the intelligent home equipment is correspondingly placed; and eliminating other useless areas on the basis of the graph 8 to obtain a visual control display interface of the HomeMap. The HomeMap construction method and the HomeMap construction system based on the sweeping robot ingeniously utilize scanning mobile position information of the sweeping robot when a user room is scanned, accurately scan and extract position information of each intelligent household device in the user room, and can realize automatic construction of the HomeMap without manual participation. Optionally, the application scenario may be an application scenario in which a plurality of intelligent household appliances exist, such as a home scenario, and further optionally, in the application scenario, the mobile phone or the tablet computer may serve as the control module, and the intelligent household appliances controlled by the control module may be an air conditioner or an air purifier. The HomeMap can be used for visually limiting air humidity, temperature, PM2.5, light source starting conditions, water quality detection, network signals and the like in a user room in a control interface.
The following respectively describes the HomeMap construction method and system based on the sweeping robot described in the present invention in detail.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for constructing a HomeMap based on a sweeping robot according to an embodiment of the present invention, where the method described in fig. 1 may be applied to a construction system, and as shown in fig. 1, the method for constructing a HomeMap based on a sweeping robot may include the following operations:
101. and acquiring a room layout of a user room, and importing the room layout into a map interface of a building module to form a control layout.
In the embodiment of the invention, the room layout is a three-dimensional space structure diagram of a user room or a two-dimensional ground contour diagram, the room layout is led into a construction module in many ways, the room layout can be transmitted by a network or copied by a storage medium such as a hard disk, and the construction module is an existing hardware module or equipment terminal with a graphic processing function, a map construction function and a control authority configuration function.
102. Marking equipment shape information on corresponding intelligent household equipment according to the shape of the intelligent household equipment; the step 101 and the step 102 are preparation operation steps for constructing the HomeMap, so that the execution sequence of the step 101 and the step 102 is not sequential in practical application, and the step 103 is triggered after the step 101 and the step 102 are executed.
In the embodiment of the invention, because the constructed HomeMap needs to be visually displayed on the household graph more intuitively, a user can conveniently and visually control the HomeMap according to the specific application scene of the intelligent household equipment in a user room, and therefore, in order to ensure the position accuracy of the intelligent household equipment in the household graph, the HomeMap needs to be constructed according to the actual shape information of the intelligent household equipment.
103. The sweeping robot moves and scans in a user room according to a movement rule, a positioning server obtains scanning movement position information of the sweeping robot according to a positioning terminal installed on the sweeping robot, and a scanned floor pattern graph is obtained in a control floor pattern graph; the method comprises the steps that in the moving scanning process of a sweeping robot in a user room, equipment shape information and equipment position information of intelligent household equipment in the user room are extracted; the scanning moving position information and the equipment position information obtained in the step 103 are synchronous, when the sweeping robot moves and scans in a user room and moves to the position near the household equipment marked with the equipment shape information, the sweeping robot marks the position coordinates on a scanned user-type diagram to form the equipment position information; when the execution of step 103 is completed, step 104 is triggered.
In the embodiment of the invention, the movement rule of the sweeping robot can be that the movement track of a user room is comprehensively scanned, and the efficiency of constructing the HomeMap can also be improved, a user can self-define and draw the movement track according to the placement position of the intelligent home equipment, for example, if the intelligent home equipment is generally placed close to a wall, the sweeping robot only needs to move along the outline close to the wall to scan each area for one circle; the coordinate reference of the sweeping robot in the scanned house type graph can be the initial position where the sweeping robot is placed by a user, or the position of certain intelligent household equipment can be used as the reference. The scanning movement position information refers to the movement track and real-time position information of the sweeping robot in a control house type graph; the device position information refers to information such as the placement position and the orientation of each intelligent home device in the control house type diagram.
104. The construction module marks the device shape information corresponding to the intelligent household equipment on the scanning household graph according to the scanning mobile position information and the device position information, and clears the other area scanning information without the intelligent household equipment shape information to obtain the HomeMap. When the execution of step 104 is completed, step 105 is triggered.
In the embodiment of the invention, the HomeMap is used for performing visual control on the intelligent home equipment and has no relation with other furniture placed in a user room, so that in order to ensure the intuitiveness of the HomeMap in the visual control on the intelligent home equipment and avoid the interference of other indoor objects on a control interface, the scanning information irrelevant to the control of the intelligent home equipment needs to be actively cleared when the HomeMap is constructed.
105. And the equipment shape information of each intelligent household equipment displayed in the HomeMap controls each intelligent household equipment.
In the embodiment of the invention, on the basis of the existing intelligent home application program visual control technology, the user type graph and the device position information are combined, so that the device shape information marked on the user type graph has the control authority, and the user selects each device shape information mark to control the intelligent home devices in the user room in the user type graph control interface displayed by the HomeMap, so that the intelligent home devices and the application scenes thereof can be accurately and intuitively, accurately and quickly controlled.
In another alternative embodiment, as shown in fig. 2, in the step 101, acquiring a room-type diagram of a user room includes:
acquiring user room address information;
and acquiring a user room layout drawing through a developer or the Internet according to the user room address information, wherein the user room layout drawing comprises a two-dimensional layout drawing.
In step 102, device shape information is marked on the corresponding smart home device according to the shape of the smart home device, and in the moving and scanning process of the sweeping robot in the user room, in step 103, the device shape information and the device position information of the smart home device in the user room are extracted, which includes:
setting an equipment shape recognition module according to a two-dimensional shape of the intelligent equipment, wherein the equipment shape information comprises an equipment name, an area, a volume, a shape and the like;
the device shape device module is an induction chip;
the sweeping robot is used for recognizing and extracting the shape information of the equipment by moving and approaching the induction chip.
In the step 103, the sweeping robot moves and scans in the user room according to the movement rule, the positioning server obtains the scanning movement position information of the sweeping robot according to the positioning terminal installed on the sweeping robot, and a scanned floor pattern diagram is obtained in the control floor pattern diagram; the method comprises the following steps:
the scanned floor plan is a two-dimensional map;
the sweeping robot scans by adopting a scanning radar to obtain a two-dimensional scanning house type image.
The step 104 includes: according to the scanning mobile position information, marking an occupied two-dimensional shape in the equipment shape information of the intelligent household equipment at a position corresponding to the scanning house type graph; and comparing the scanned house type graph with the control house type graph, and clearing an area without the shape information of the intelligent household equipment except the two-dimensional shape mark by taking the peripheral shape of the control house type graph as a standard.
According to the embodiment, the HomeMap can be efficiently and automatically constructed based on the sweeping robot, and the visual control interface displayed in the HomeMap is a two-dimensional plane graph, so that a user can more intuitively control the intelligent household equipment.
Example two
Referring to fig. 3, fig. 3 is a schematic flow chart of a method for constructing a HomeMap based on a sweeping robot according to an embodiment of the present invention, where the method described in fig. 3 may be applied to a construction system, and as shown in fig. 1, the method for constructing a HomeMap based on a sweeping robot may include the following operations:
101. and acquiring a room layout of a user room, and importing the room layout into a map interface of a building module to form a control layout.
In the embodiment of the invention, the room layout is a three-dimensional space structure diagram of a user room or a two-dimensional ground contour diagram, the room layout is led into a construction module in many ways, the room layout can be transmitted by a network or copied by a storage medium such as a hard disk, and the construction module is an existing hardware module or equipment terminal with a graphic processing function, a map construction function and a control authority configuration function.
102. Marking equipment shape information on corresponding intelligent household equipment according to the shape of the intelligent household equipment; the step 101 and the step 102 are preparation operation steps for constructing the HomeMap, so that the execution sequence of the step 101 and the step 102 is not sequential in practical application, and the step 103 is triggered after the step 101 and the step 102 are executed.
In the embodiment of the invention, because the constructed HomeMap needs to be visually displayed on the household graph more intuitively, a user can conveniently and visually control the HomeMap according to the specific application scene of the intelligent household equipment in a user room, and therefore, in order to ensure the position accuracy of the intelligent household equipment in the household graph, the HomeMap needs to be constructed according to the actual shape information of the intelligent household equipment.
103. The sweeping robot moves and scans in a user room according to a movement rule, a positioning server obtains scanning movement position information of the sweeping robot according to a positioning terminal installed on the sweeping robot, and a scanned floor pattern graph is obtained in a control floor pattern graph; the method comprises the steps that in the moving scanning process of a sweeping robot in a user room, equipment shape information and equipment position information of intelligent household equipment in the user room are extracted; the scanning moving position information and the equipment position information obtained in the step 103 are synchronous, when the sweeping robot moves and scans in a user room and moves to the position near the household equipment marked with the equipment shape information, the sweeping robot marks the position coordinates on a scanned user-type diagram to form the equipment position information; when the execution of step 103 is completed, step 104 is triggered.
In the embodiment of the invention, the movement rule of the sweeping robot can be that the movement track of a user room is comprehensively scanned, and the efficiency of constructing the HomeMap can also be improved, a user can self-define and draw the movement track according to the placement position of the intelligent home equipment, for example, if the intelligent home equipment is generally placed close to a wall, the sweeping robot only needs to move along the outline close to the wall to scan each area for one circle; the coordinate reference of the sweeping robot in the scanned house type graph can be the initial position where the sweeping robot is placed by a user, or the position of certain intelligent household equipment can be used as the reference. The scanning movement position information refers to the movement track and real-time position information of the sweeping robot in a control house type graph; the device position information refers to information such as the placement position and the orientation of each intelligent home device in the control house type diagram.
104. The construction module marks the device shape information corresponding to the intelligent household equipment on the scanning household graph according to the scanning mobile position information and the device position information, and clears the other area scanning information without the intelligent household equipment shape information to obtain the HomeMap. When the execution of step 104 is completed, step 105 is triggered.
In the embodiment of the invention, the HomeMap is used for performing visual control on the intelligent home equipment and has no relation with other furniture placed in a user room, so that in order to ensure the intuitiveness of the HomeMap in the visual control on the intelligent home equipment and avoid the interference of other indoor objects on a control interface, the scanning information irrelevant to the control of the intelligent home equipment needs to be actively cleared when the HomeMap is constructed.
105. And the equipment shape information of each intelligent household equipment displayed in the HomeMap controls each intelligent household equipment.
In the embodiment of the invention, on the basis of the existing intelligent home application program visual control technology, the user type graph and the specific device placement position information are combined, so that the device shape information marked on the user type graph has the control authority, and the user selects each device shape information mark to control the intelligent home devices in the user room in the user type graph control interface displayed by the HomeMap, so that the intelligent home devices and the application scenes thereof can be accurately and more intuitively, accurately and quickly controlled.
In step 101, obtaining a room-floor type diagram of a user room includes:
acquiring user room address information;
and acquiring a user room layout drawing through a developer or the Internet according to the user room address information, wherein the user room layout drawing comprises a three-dimensional layout drawing.
In step 102, device shape information is marked on the corresponding smart home device according to the shape of the smart home device, and in the moving and scanning process of the sweeping robot in the user room, in step 103, the device shape information and the device position information of the smart home device in the user room are extracted, which includes:
setting an equipment shape recognition module according to the three-dimensional shape of the intelligent equipment, wherein the equipment shape information comprises an equipment name, an area, a volume and/or a shape;
the device shape device module is a scanning code label;
the sweeping robot is close to the intelligent household equipment through moving, and the scanning code label is scanned by the camera module to identify and extract the equipment shape information.
In the step 103, the sweeping robot moves and scans in the user room according to the movement rule, the positioning server obtains the scanning movement position information of the sweeping robot according to the positioning terminal installed on the sweeping robot, and a scanned floor pattern diagram is obtained in the control floor pattern diagram; the method comprises the following steps:
the sweeping robot scans image information by adopting a camera module, and generates the scanning house-type picture with the live-action picture according to the scanning moving position information and the image information.
The step 104 includes: marking a three-dimensional shape in the equipment shape information of the intelligent household equipment at a position corresponding to the scanned house type graph according to the scanned mobile position information; and comparing the scanned house type picture with the control house type picture, clearing an area without the shape information of the intelligent household equipment except the three-dimensional shape mark by taking the peripheral shape of the control house type picture as a standard, and replacing the live-action picture of the cleared area with the wall picture of the house type picture.
According to the embodiment, the HomeMap can be efficiently and automatically constructed based on the sweeping robot, the visual control interface displayed in the HomeMap is a three-dimensional model diagram, and a user can further browse the application three-dimensional space of the intelligent household equipment through a live-action picture, so that the user can more intuitively and accurately control the intelligent household equipment.
EXAMPLE III
Referring to fig. 4, fig. 4 is a schematic structural diagram of a HomeMap construction system according to another embodiment of the present invention. The HomeMap construction system comprises a house type map acquisition and import module 402, a positioning server 401, a construction module 403 and a control module 404, wherein a positioning terminal 301, an induction module 302 and a camera module 303 are installed on a sweeping robot 30 in a user room, and intelligent household equipment 20 placed in the room is provided with an equipment shape recognition module 201, wherein:
a house type graph obtaining and importing module 402, configured to obtain a room type graph of a user room, and import the room type graph to a building module 403;
the positioning server 101 is configured to obtain scanning movement position information of the sweeping robot 20 according to the positioning terminal 301 and control the sweeping robot 20 to move in a user room;
the sweeping robot 20 is used for moving in the room according to the rules;
the camera module 202 is used for dynamically shooting live-action pictures in a room during the movement of the sweeping robot 20;
the device shape identification module 201 is used for storing or linking device shape information stored in a cloud;
a sensing module 302, configured to extract device shape information in the device shape recognition module 20;
the building module 403 is configured to form a control house type graph according to the house type graph of the room, obtain a scanned house type graph according to the scanning position information scanned by the sweeping robot 20, and build a HomeMap according to the marking condition on the scanned house type graph of the device shape information;
the control module 404 obtains the control authority of the smart home devices 20 through the HomeMap, and controls the smart home devices 20 through the device shape information of the smart home devices 20 displayed in the HomeMap.
Example four
The embodiment of the invention discloses another HomeMap construction system, which comprises:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
acquiring a room layout of a user room, and importing the room layout into a map interface of a building module to form a control layout;
marking equipment shape information on corresponding intelligent household equipment according to the shape of the intelligent household equipment;
the sweeping robot moves and scans in a user room according to a movement rule, a positioning server obtains scanning movement position information of the sweeping robot according to a positioning terminal installed on the sweeping robot, and a scanned floor pattern graph is obtained in a control floor pattern graph;
the method comprises the steps that in the moving scanning process of a sweeping robot in a user room, equipment shape information and equipment position information of intelligent household equipment in the user room are extracted;
the construction module marks the device shape information corresponding to the intelligent household equipment on the scanned household graph according to the scanned mobile position information and the device position information, and clears the other area scanning information without the intelligent household equipment shape information to obtain a HomeMap;
and the equipment shape information of each intelligent household equipment displayed in the HomeMap controls each intelligent household equipment.
EXAMPLE five
The embodiment of the invention discloses a computer storage medium, which stores computer instructions, and the computer instructions are used for executing the steps of the HomeMap construction method based on the sweeping robot disclosed in the first embodiment or the second embodiment of the invention when being called.
The above-described embodiments of the apparatus are merely illustrative, and the modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above detailed description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. Based on such understanding, the above technical solutions may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, where the storage medium includes a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc-Read-Only Memory (CD-ROM), or other disk memories, CD-ROMs, or other magnetic disks, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
Finally, it should be noted that: the construction method and the construction system of HomeMpa based on the sweeping robot disclosed in the embodiments of the present invention are only preferred embodiments of the present invention, and are only used for illustrating the technical solution of the present invention, not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The HomeMap construction method based on the sweeping robot is characterized by comprising the following steps:
acquiring a room layout of a user room, and importing the room layout into a map interface of a building module to form a control layout;
marking equipment shape information on corresponding intelligent household equipment according to the shape of the intelligent household equipment;
the sweeping robot moves and scans in a user room according to a movement rule, a positioning server obtains scanning movement position information of the sweeping robot according to a positioning terminal installed on the sweeping robot, and a scanned floor pattern graph is obtained in a control floor pattern graph; the method comprises the steps that in the moving scanning process of a sweeping robot in a user room, equipment shape information and equipment position information of intelligent household equipment in the user room are extracted;
the construction module marks the device shape information corresponding to the intelligent household equipment on the scanned household graph according to the scanned mobile position information and the device position information, and clears the other area scanning information without the intelligent household equipment shape information to obtain a HomeMap;
and the equipment shape information of each intelligent household equipment displayed in the HomeMap controls each intelligent household equipment.
2. The method for constructing the HomeMap based on the sweeping robot of claim 1, wherein the step of obtaining the room floor plan of the user room comprises the following steps:
acquiring user room address information;
and acquiring a user room layout drawing through a developer or the Internet according to the user room address information, wherein the user room layout drawing comprises a two-dimensional layout drawing or a three-dimensional layout drawing.
3. The HomeMap construction method based on the sweeping robot according to claim 2, wherein device shape information is marked on corresponding smart home devices according to shapes of the smart home devices, and in a moving scanning process of the sweeping robot in a user room, device shape information and device position information of the smart home devices in the user room are extracted, and the method comprises the following steps:
the method comprises the steps that an equipment shape recognition module is arranged according to the three-dimensional shape or the occupied two-dimensional shape of the intelligent household equipment, and equipment shape information comprises equipment name, area, volume and/or shape;
the equipment shape equipment module is a scanning code label or an induction chip;
the sweeping robot scans the scanning code label by moving close to the scanning code label or senses the scanning code label by moving close to the scanning code label, and the sensing chip identifies and extracts the shape information of the equipment.
4. The HomeMap construction method based on the sweeping robot as claimed in claim 3, wherein the sweeping robot moves and scans in the user room according to the movement rule, the positioning server obtains the scanning movement position information of the sweeping robot according to a positioning terminal installed on the sweeping robot, and obtains a scanned floor pattern in the control floor pattern; the method comprises the following steps:
the scanned floor plan is a two-dimensional map;
the sweeping robot scans by adopting a scanning radar to obtain a two-dimensional scanning house type image.
5. The HomeMap construction method based on the sweeping robot as claimed in claim 3, wherein the sweeping robot moves and scans in the user room according to the movement rule, the positioning server obtains the scanning movement position information of the sweeping robot according to a positioning terminal installed on the sweeping robot, and obtains a scanned floor pattern in the control floor pattern; the method comprises the following steps:
the scanned house-type diagram is a three-dimensional diagram;
the sweeping robot scans image information by adopting a camera module, and generates the scanning house-type picture with the live-action picture according to the scanning moving position information and the image information.
6. The HomeMap construction method based on the sweeping robot according to claim 4, wherein the construction module marks device shape information corresponding to the intelligent household device on the scanned house type map according to the scanned mobile position information and the device position information, and clears other area scanning information without the intelligent household device shape information to obtain the HomeMap; the method comprises the following steps:
according to the scanning mobile position information, marking an occupied two-dimensional shape in the equipment shape information of the intelligent household equipment at a position corresponding to the scanning house type graph; and comparing the scanned house type graph with the control house type graph, and clearing an area without the shape information of the intelligent household equipment except the two-dimensional shape mark by taking the peripheral shape of the control house type graph as a standard.
7. The HomeMap construction method based on the sweeping robot of claim 5, wherein the construction module identifies device shape information corresponding to the smart home devices on the scanned floor plan according to the scanned mobile position information and the device position information, and clears other area scanning information without the smart home device shape information to obtain the HomeMap; the method comprises the following steps:
marking a three-dimensional shape in the equipment shape information of the intelligent household equipment at a position corresponding to the scanned house type graph according to the scanned mobile position information; and comparing the scanned house type picture with the control house type picture, clearing an area without the shape information of the intelligent household equipment except the three-dimensional shape mark by taking the peripheral shape of the control house type picture as a standard, and replacing the live-action picture of the cleared area with the wall picture of the house type picture.
8. The utility model provides a HomeMap construction system, its characterized in that, obtains leading-in module, positioning server, construction module and control module including the family pattern, installs location terminal, response module and camera module on the robot of sweeping the floor in the user room, and the intelligent household equipment of placing in the room is equipped with equipment shape identification module, wherein:
the family pattern acquisition and import module is used for acquiring a room family pattern of a user room and importing the room family pattern into the construction module;
the positioning server is used for acquiring scanning moving position information of the sweeping robot and controlling the sweeping robot to move in a user room according to the positioning terminal;
the sweeping robot is used for moving in the room according to rules;
the camera module is used for dynamically shooting live-action pictures in a room in the moving process of the sweeping robot;
the device shape identification module is used for storing or linking device shape information stored in the cloud;
the sensing module is used for extracting the equipment shape information in the equipment shape recognition module;
the building module is used for forming a control house type graph according to the house type graph, obtaining a scanned house type graph according to the scanning movement position information of the sweeping robot, and building a HomeMap according to the marking condition of the equipment shape information on the scanned house type graph;
the control module acquires the control authority of the intelligent home equipment through the HomeMap, and controls the intelligent home equipment through the equipment shape information of the intelligent home equipment displayed in the HomeMap.
9. A HomeMap construction system, comprising: a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
acquiring a room layout of a user room, and importing the room layout into a map interface of a building module to form a control layout;
marking equipment shape information on corresponding intelligent household equipment according to the shape of the intelligent household equipment;
the sweeping robot moves and scans in a user room according to a movement rule, a positioning server obtains scanning movement position information of the sweeping robot according to a positioning terminal installed on the sweeping robot, and a scanned floor pattern graph is obtained in a control floor pattern graph;
the method comprises the steps that in the moving scanning process of a sweeping robot in a user room, equipment shape information and equipment position information of intelligent household equipment in the user room are extracted;
the construction module marks the device shape information corresponding to the intelligent household equipment on the scanned household graph according to the scanned mobile position information and the device position information, and clears the other area scanning information without the intelligent household equipment shape information to obtain a HomeMap;
and the equipment shape information of each intelligent household equipment displayed in the HomeMap controls each intelligent household equipment.
10. A computer readable storage medium storing computer instructions, wherein the computer instructions, when executed by a processor, implement the steps of the HomeMap construction method based on a sweeping robot in any one of claims 1 to 7.
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