CN205656496U - Robot of sweeping floor and device is establish to indoor map thereof - Google Patents
Robot of sweeping floor and device is establish to indoor map thereof Download PDFInfo
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- CN205656496U CN205656496U CN201520963277.4U CN201520963277U CN205656496U CN 205656496 U CN205656496 U CN 205656496U CN 201520963277 U CN201520963277 U CN 201520963277U CN 205656496 U CN205656496 U CN 205656496U
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Abstract
The utility model discloses a device is establish to the indoor map of robot of sweeping the floor, include: a N location label, a N location label sets up respectively on indoor different walls, and wherein, N is for being more than or equal to 3 integer, the judge module for whether the position of judging indoor object in the robot working process of sweeping the floor changes, acquire the module for acquire positional information of at least one location label in the label of N location, control module for the position of judging indoor object at the judge module changes, and when acquireing the module and acquireing positional information of at least one location label, updates indoor map according to positional information of at least one location label. When the device can change in the position of indoor object, direct location label through setting up updated indoor map, has avoided indoor map revision in -process need establish coordinate data's problem again. The utility model also discloses a robot of sweeping the floor.
Description
Technical field
This utility model relates to living electric apparatus technical field, sets up device particularly to a kind of sweeping robot and a kind of indoor map for sweeping robot.
Background technology
At present, along with growth in the living standard, sweeping robot is because of simple to operate, easy to use and well received.
Generally, sweeping robot sets up coordinate data with cradle for zero, and utilizes the impact switch of self or infrared/ultrasonic sensor to set up grid coordinate map, and cleans indoor according to grid coordinate map.But, when indoor object space changes, the position of such as cradle changes, the grid coordinate map originally set up will produce the biggest error, in correlation technique, position according to current cradle re-establishes coordinate data, and re-establishes grid coordinate map according to coordinate data, reduces the work efficiency of sweeping robot.
Utility model content
One of technical problem that this utility model is intended to solve in correlation technique the most to a certain extent.
For this, a purpose of the present utility model is that proposing a kind of indoor map for sweeping robot sets up device, can be when the position of indoor object changes, by the location label arranged, indoor map is updated, it is to avoid indoor map renewal process needs to re-establish the problem of coordinate data.
Second purpose of the present utility model is to propose a kind of sweeping robot.
To achieve these goals, the indoor map for sweeping robot of this utility model first aspect embodiment sets up device, including: N number of location label, described N number of location label is separately positioned on the different walls of indoor, wherein, N is the integer more than or equal to 3；Judge module, whether described judge module changes for the position judging the object of indoor in described sweeping robot work process；Acquisition module, described acquisition module is for obtaining the positional information of at least one location label in the label of described N number of location；Control module, for judging that at described judge module the position of the object of described indoor changes, and when described acquisition module gets the positional information of at least one location label described, according to the positional information of at least one location label described, indoor map is updated.
The indoor map for sweeping robot according to this utility model embodiment sets up device, judge that at judge module the position of indoor object changes, and when acquisition module gets the positional information of at least one location label, according to the positional information of at least one location label, indoor map is updated.Thus, this device can be in sweeping robot work process, when the position of indoor object changes, directly indoor map is updated by the positional information of the location label by arranging, avoid the problem needing to re-establish coordinate data in indoor map renewal process, improve the work efficiency of sweeping robot.
It addition, set up device according to the above-mentioned indoor map for sweeping robot of this utility model can also have a following additional technical characteristic:
In an embodiment of the present utility model, the above-mentioned indoor map for sweeping robot sets up device, also include: position acquisition module, described position acquisition module is for obtaining the positional information of the object of described indoor, module set up by map, before the described sweeping robot of first use, described map is set up module and is set up coordinate data with the current location of cradle for zero, and sets up described indoor map according to described positional information and described coordinate data.
In an embodiment of the present utility model, when described acquisition module gets the positional information of at least one location label described, if described judge module judges that the described positional information of at least one location label is more than predetermined threshold value with the deviation value of the current location information of described sweeping robot, the most described control module is by the current location information that updating location information is described sweeping robot of described location label, and is updated described indoor map.
In an embodiment of the present utility model, in described sweeping robot work process, described control module, for judging that at described judge module the position of the object of described indoor changes, and described acquisition module is not when getting the positional information of at least one location label described, control described sweeping robot and return described zero, and after described sweeping robot returns described zero, control described acquisition module and reacquire the positional information of at least one elements of a fix in the label of described N number of location, and according to the positional information of at least one location label described, described indoor map is updated.
In an embodiment of the present utility model, in described sweeping robot work process, if the position that described judge module judges the object in described room does not changes, described indoor map is not updated by the most described control module.
In an embodiment of the present utility model, described position acquisition module is infrared sensor, ultrasonic sensor or impact switch.
To achieve these goals, the sweeping robot of this utility model second aspect embodiment includes that the indoor map for sweeping robot of this utility model first aspect embodiment sets up device.
The sweeping robot of this utility model embodiment, device is set up by the above-mentioned indoor map for sweeping robot, can be when the position of indoor object changes, directly by the positional information of at least one location label in the label of N number of location, indoor map is updated, avoid the problem needing to re-establish coordinate data in indoor map renewal process, improve work efficiency.
The advantage of the aspect that this utility model is additional will part be given in the following description, and part will become apparent from the description below, or is recognized by practice of the present utility model.
Accompanying drawing explanation
Fig. 1 is the flow chart of the indoor map method for building up for sweeping robot according to one embodiment of this utility model；
Fig. 2 is the block diagram that the indoor map for sweeping robot according to one embodiment of this utility model sets up device.
Detailed description of the invention
Of the present utility model embodiment is described below in detail, and the example of described embodiment is shown in the drawings, and the most same or similar label represents same or similar element or has the element of same or like function.The embodiment described below with reference to accompanying drawing is exemplary, it is intended to be used for explaining this utility model, and it is not intended that to restriction of the present utility model.
Below with reference to the accompanying drawings indoor map method for building up, device and sweeping robot for sweeping robot according to this utility model embodiment are described.
Fig. 1 is the flow chart of the indoor map method for building up for sweeping robot according to one embodiment of this utility model.As it is shown in figure 1, this indoor map method for building up being used for sweeping robot comprises the following steps:
S101, in sweeping robot work process, it is judged that whether the position of indoor object changes.Wherein, by the impact switch of self or infrared/ultrasonic sensor etc., sweeping robot can judge whether the position of indoor object changes, do not limit at this.
Specifically, in embodiment of the present utility model, indoor object can be the cradle of sweeping robot, bed, sofa and TV bench etc..In sweeping robot work process, sweeping robot can actively be avoided the object of indoor and clean according to the indoor map pre-build, but, when sweeping robot touches same object 2-3 time of indoor, sweeping robot will determine that the position of indoor object changes.
According to an embodiment of the present utility model, indoor map was set up before first use sweeping robot, specifically include: obtain the positional information of the object of current indoor, set up coordinate data with the current location of cradle for zero, and set up indoor map according to positional information and coordinate data.
It is understood that indoor map can be set up before first sweeping robot, it is also possible to set up during first use sweeping robot, for example, it is possible to during first use sweeping robot, use process record mode to set up indoor map.
Specifically, when first use sweeping robot time, the current location with cradle set up coordinate system for zero by sweeping robot, such as positive right-handed coordinate system, and sets up grid coordinate data, such as, sets data corresponding to each grid in coordinate system as-1.Sweeping robot starts to clean indoor, in sweeping robot cleaning process, impact switch or infrared/ultrasonic sensor by self judge whether front has barrier, if had, then the data of grid corresponding to barrier are set to 1 by sweeping robot, if it is not, the data of this grid are set to 0.When sweeping robot complete once clean task and be back to cradle time, indoor map is set up complete, and stores.
When sweeping robot performs cleaning task again, the object that can actively avoid indoor according to the indoor map set up cleans, simultaneously, sweeping robot judges whether the position of indoor object changes, wherein, the position of indoor object can be the position of original furniture, the position of cradle and newly enter the position etc. shared by furniture.
S102, if the position of the object of indoor changes, then obtains the positional information of at least one location label in the label of N number of location, and wherein, N number of location label is separately positioned on the different walls of indoor, and N is the integer more than or equal to 3.
Preferably, N number of location label is separately positioned on different horizontal lines, and the height on tag distances ground, N number of location need to meet the height that sweeping robot can identify.In embodiment of the present utility model, location label can be bar code, Quick Response Code and other can be sensed label.When sweeping robot sets up indoor map, the positional information of N number of location label is also recorded in indoor map.
S103, if getting the positional information of at least one location label, is then updated indoor map according to the positional information of at least one location label.
According to an embodiment of the present utility model, in sweeping robot work process, also include: if getting the positional information of at least one location label and the deviation value of the current location information of sweeping robot more than predetermined threshold value, then by the current location information that updating location information is sweeping robot of location label, and indoor map is updated.Wherein, predetermined threshold value can be demarcated according to practical situation, and predetermined threshold value can be 5CM.
Specifically, carry out in cleaning process at sweeping robot according to the indoor map set up, when sweeping robot finds one of them location label, judge that whether the positional information of the above-mentioned location label deviation value with the current location information of sweeping robot is more than predetermined threshold value according to the coordinate of the indoor map set up.If it is, by the current location information that updating location information is sweeping robot of location label, and indoor map is updated；If it is not, then proceed to clean.
nullFurthermore，Carry out in cleaning process according to the indoor map set up at sweeping robot，If the position that sweeping robot judges indoor object changes，Such as，When sweeping robot judges that there is barrier in front，Sweeping robot will actively find the location label being arranged on wall，When sweeping robot finds one of them location label，Sweeping robot obtains the positional information of location label，And the positional information of sweeping robot is obtained according to the indoor map set up，Then according to the positional information of above-mentioned location label and the deviation value of the positional information calculation out position of above-mentioned sweeping robot，And whether judgment bias value is more than predetermined threshold value (such as 5CM)，If，Then by the positional information that updating location information is above-mentioned sweeping robot of above-mentioned location label，And be configured according to the data of the position at the sweeping robot place grid corresponding to barrier，Thus realize the renewal to indoor map；nullWhen sweeping robot return cradle is charged，If the position of cradle changes，Then first sweeping robot returns to the original position of cradle according to indoor map，Find cradle present position the most again，After sweeping robot searches out cradle，The position of sweeping robot overlaps with the position of cradle，Now，With the current location of cradle as zero，And according to the relative position of sweeping robot with the location label being arranged on wall, indoor map is updated，That is，The position at label place, location is absolute reference point，Sweeping robot location is characterized coordinate points，When sweeping robot overlaps with the position of cradle，Sweeping robot is the relative position of cradle and location label with the relative position of location label，Now the data that each grid is corresponding only need to be modified by sweeping robot according to relative position，Thus realize the renewal to indoor map，Avoid the problem needing to re-establish coordinate data in indoor map renewal process.
Furthermore, in an embodiment of the present utility model, in sweeping robot work process, if the position of the object of indoor changes, and do not get at least one positional information positioning label, then control sweeping robot and return zero, and after sweeping robot returns zero, reacquire the positional information of at least one elements of a fix in the label of N number of location, and according to the positional information of at least one location label, indoor map is updated.In another embodiment of the present utility model, in sweeping robot work process, if the position of the object of indoor does not changes, indoor map is not updated.
It is understandable that, when the position of indoor object changes, and sweeping robot do not get at least one location label positional information time, first sweeping robot returns zero (cradle) according to indoor map, reacquire the positional information of location label the most again, generally sweeping robot has edge cleaning function, therefore, sweeping robot can successfully obtain the positional information of location label such that it is able to is updated indoor map according to the positional information of location label.
In embodiment of the present utility model, the position at label place, location is absolute reference point, and sweeping robot location is characterized coordinate points, when sweeping robot returns zero (cradle), sweeping robot can select optimal route to return according to characteristic coordinates point and indoor map, when characteristic coordinates point and zero overlap, sweeping robot successfully returns zero.Which can make sweeping robot find cradle faster, more accurately and return.
The indoor map method for building up for sweeping robot according to this utility model embodiment, in sweeping robot work process, may determine that whether the position of the object of indoor changes, if the position of the object of indoor changes, then obtain the positional information of at least one location label in the label of N number of location, if getting the positional information of at least one location label, then according to the positional information of at least one location label, indoor map is updated.Thus, the method can be in sweeping robot work process, when the position of indoor object changes, directly indoor map is updated by the positional information of the location label by arranging, avoid the problem needing to re-establish coordinate data in indoor map renewal process, improve the work efficiency of sweeping robot.
Fig. 2 is the block diagram that the indoor map for sweeping robot according to one embodiment of this utility model sets up device.Include as in figure 2 it is shown, this indoor map being used for sweeping robot sets up device 10: N number of location label 100, judge module 200, acquisition module 300 and control module 400.
Specifically, N number of location label 100 is separately positioned on the different walls of indoor, and wherein, N is the integer more than or equal to 3.
In embodiment of the present utility model, N number of location label 100 is separately positioned on different horizontal lines, and the height that N number of location label 100 is apart from ground need to meet the height that sweeping robot can identify.Wherein, location label can be bar code, Quick Response Code and other can be sensed label.
Judge module 200, for judging in sweeping robot work process whether the position of the object of indoor changes.Wherein, it is judged that module 200 can be impact switch or infrared/ultrasonic sensor etc., does not limits at this.
Specifically, in embodiment of the present utility model, indoor object can be the cradle of sweeping robot, bed, sofa and TV bench etc..In sweeping robot work process, sweeping robot can actively be avoided the object of indoor and clean according to the indoor map pre-build, but, when judge module 200 touches same object 2-3 time of indoor, it is judged that module 200 will determine that the position of indoor object changes.
Furthermore, in an embodiment of the present utility model, the above-mentioned indoor map for sweeping robot sets up device, also includes: module set up by position acquisition module and map.
Wherein, position acquisition module is for obtaining the positional information of the object of indoor, map sets up module for, before first use sweeping robot, setting up coordinate data with the current location of cradle for zero, and set up indoor map according to positional information and coordinate data.Wherein, position acquisition module can be infrared sensor, ultrasonic sensor or impact switch.
It is understood that indoor map can be set up before first sweeping robot, it is also possible to set up during first use sweeping robot, for example, it is possible to during first use sweeping robot, use process record mode to set up indoor map.
Specifically, when first use sweeping robot time, map sets up module and sets up coordinate system with the current location of cradle for zero, such as positive right-handed coordinate system, and sets up grid coordinate data, such as, sets data corresponding to each grid in coordinate system as-1.Sweeping robot starts to clean indoor, in sweeping robot cleaning process, the positional information of indoor object is obtained by position acquisition module, such as, can judge whether front has barrier by the impact switch of self or infrared/ultrasonic sensor, if it has, then the data of grid corresponding to barrier are set to 1, if it is not, the data of this grid are set to 0.When sweeping robot complete once clean task and be back to cradle time, indoor map is set up complete, and stores.When sweeping robot sets up indoor map, the positional information of N number of location label is also recorded in indoor map.
When sweeping robot performs cleaning task again, the object that can actively avoid indoor according to the indoor map set up cleans, simultaneously, judge module 200 judges whether the position of indoor object changes, wherein, the position of indoor object can be the position of original furniture, the position of cradle and newly enter the position etc. shared by furniture.
Acquisition module 300, for obtaining the positional information of at least one location label in the label of N number of location.
Control module 400, for judging that at judge module the position of indoor object changes, and when acquisition module gets at least one positional information positioning label, is updated indoor map according to the positional information of at least one location label.
According to an embodiment of the present utility model, when acquisition module 300 gets the positional information of at least one location label, if it is determined that module 200 judges that the positional information of at least one location label is more than predetermined threshold value with the deviation value of the current location information of sweeping robot, then control module 400 is by the current location information that updating location information is sweeping robot of location label, and is updated indoor map.Wherein, predetermined threshold value can be demarcated according to practical situation, and predetermined threshold value can be 5CM.
Specifically, carry out in cleaning process at sweeping robot according to the indoor map set up, when acquisition module 300 gets one of them location label, it is judged that according to the coordinate of the indoor map set up, module 200 judges that whether the positional information of the above-mentioned location label deviation value with the current location information of sweeping robot is more than predetermined threshold value.If it is, control module 400 is by the current location information that updating location information is sweeping robot of location label, and indoor map is updated；If it is not, then continue to clean.
nullFurthermore，Carry out in cleaning process according to the indoor map set up at sweeping robot，If it is determined that the position that module 200 judges the object of indoor changes，Such as，When judge module 200 judges that there is barrier in front，Acquisition module 300 will actively find the location label being arranged on wall，When acquisition module 300 finds one of them location label，Obtain the positional information of location label，Control module 400 obtains the positional information of sweeping robot according to the indoor map set up，Then according to the positional information of above-mentioned location label and the deviation value of the positional information calculation out position of above-mentioned sweeping robot，And whether judgment bias value is more than predetermined threshold value (such as 5CM)，If，Then by the positional information that updating location information is above-mentioned sweeping robot of above-mentioned location label，And be configured according to the data of the position at the sweeping robot place grid corresponding to barrier，Thus realize the renewal to indoor map；nullWhen sweeping robot return cradle is charged，If the position of cradle changes，Then first control module 400 controls sweeping robot according to the indoor map return original position of cradle，Then acquisition module 300 finds cradle present position again，After acquisition module 300 searches out cradle，The position of sweeping robot overlaps with the position of cradle，Now，Control module 400 is with the current location of cradle as zero，And according to the relative position of sweeping robot with the location label being arranged on wall, indoor map is updated，That is，The position at label place, location is absolute reference point，Sweeping robot location is characterized coordinate points，When sweeping robot overlaps with the position of cradle，Sweeping robot is the relative position of cradle and location label with the relative position of location label，Now the data that each grid is corresponding are modified by 400 need of control module according to relative position，Thus realize the renewal to indoor map，Avoid the problem needing to re-establish coordinate data in indoor map renewal process.
Furthermore, in an embodiment of the present utility model, in sweeping robot work process, control module 400, for judging that at judge module 200 position of the object of indoor changes, and acquisition module 300 do not get at least one location label positional information time, control sweeping robot and return zero, and after sweeping robot returns zero, control acquisition module 300 and reacquire the positional information of at least one elements of a fix in the label of N number of location, and according to the positional information of at least one location label, indoor map is updated.In another embodiment of the present utility model, in sweeping robot work process, if it is determined that the position that module 200 judges the object in room does not changes, then indoor map is not updated by control module 400.
It is understandable that, when the position of indoor object changes, and acquisition module 300 do not get at least one location label positional information time, first control module 400 controls sweeping robot and returns zero (cradle) according to indoor map, then acquisition module 300 reacquires the positional information of location label again, generally sweeping robot has edge cleaning function, therefore, acquisition module 300 can successfully obtain the positional information of location label such that it is able to is updated indoor map according to the positional information of location label.
In embodiment of the present utility model, the position at label place, location is absolute reference point, and sweeping robot location is characterized coordinate points, when sweeping robot returns zero (cradle), sweeping robot can select optimal route to return according to characteristic coordinates point and indoor map, when characteristic coordinates point and zero overlap, sweeping robot successfully returns zero.Which can make sweeping robot find cradle faster, more accurately and return.
The indoor map for sweeping robot according to this utility model embodiment sets up device, judge that at judge module the position of indoor object changes, and when acquisition module gets the positional information of at least one location label, according to the positional information of at least one location label, indoor map is updated.Thus, this device can be in sweeping robot work process, when the position of indoor object changes, directly indoor map is updated by the positional information of the location label by arranging, avoid the problem needing to re-establish coordinate data in indoor map renewal process, improve the work efficiency of sweeping robot.
The sweeping robot of this utility model embodiment includes that the indoor map for sweeping robot of any of the above-described embodiment of this utility model sets up device.
Sweeping robot according to this utility model embodiment, device is set up by the above-mentioned indoor map for sweeping robot, can be when the position of indoor object changes, directly by the positional information of at least one location label in the label of N number of location, indoor map is updated, avoid the problem needing to re-establish coordinate data in indoor map renewal process, improve work efficiency.
Claims (7)
1. set up device for the indoor map of sweeping robot for one kind, it is characterised in that including:
N number of location label, described N number of location label is separately positioned on the different walls of indoor, and wherein, N is the integer more than or equal to 3；
Judge module, whether described judge module changes for the position judging the object of indoor in described sweeping robot work process；
Acquisition module, described acquisition module is for obtaining the positional information of at least one location label in the label of described N number of location；
Control module, for judging that at described judge module the position of the object of described indoor changes, and when described acquisition module gets the positional information of at least one location label described, according to the positional information of at least one location label described, indoor map is updated.
2. the indoor map for sweeping robot as claimed in claim 1 sets up device, it is characterised in that also include:
Position acquisition module, described position acquisition module is for obtaining the positional information of the object of described indoor；
Module set up by map, and before the described sweeping robot of first use, described map is set up module and set up coordinate data with the current location of cradle for zero, and sets up described indoor map according to described positional information and described coordinate data.
3. the indoor map for sweeping robot as claimed in claim 1 or 2 sets up device, it is characterized in that, when described acquisition module gets the positional information of at least one location label described, if described judge module judges that the described positional information of at least one location label is more than predetermined threshold value with the deviation value of the current location information of described sweeping robot, the most described control module is by the current location information that updating location information is described sweeping robot of described location label, and is updated described indoor map.
4. the indoor map for sweeping robot as claimed in claim 2 sets up device, it is characterized in that, in described sweeping robot work process, described control module, for judging that at described judge module the position of the object of described indoor changes, and described acquisition module is not when getting the positional information of at least one location label described, control described sweeping robot and return described zero, and after described sweeping robot returns described zero, control described acquisition module and reacquire the positional information of at least one elements of a fix in the label of described N number of location, and according to the positional information of at least one location label described, described indoor map is updated.
5. the indoor map for sweeping robot as claimed in claim 1 or 2 sets up device, it is characterised in that in described sweeping robot work process,
If the position that described judge module judges the object in described room does not changes, described indoor map is not updated by the most described control module.
6. the indoor map for sweeping robot as claimed in claim 2 sets up device, it is characterised in that described position acquisition module is infrared sensor, ultrasonic sensor or impact switch.
7. a sweeping robot, it is characterised in that include that the indoor map for sweeping robot as according to any one of claim 1-6 sets up device.
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| CN201520963277.4U CN205656496U (en) | 2015-11-26 | 2015-11-26 | Robot of sweeping floor and device is establish to indoor map thereof |
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| CN201520963277.4U CN205656496U (en) | 2015-11-26 | 2015-11-26 | Robot of sweeping floor and device is establish to indoor map thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107981790A (en) * | 2017-12-04 | 2018-05-04 | 深圳市沃特沃德股份有限公司 | Room area division methods and sweeping robot |
| CN108594823A (en) * | 2018-05-21 | 2018-09-28 | 珠海格力电器股份有限公司 | The control method and its control system of sweeping robot |
| CN109637339A (en) * | 2018-11-19 | 2019-04-16 | 深圳市海柔创新科技有限公司 | Ground drawing generating method, device, computer readable storage medium and computer equipment |
| WO2019109225A1 (en) * | 2017-12-04 | 2019-06-13 | 深圳市沃特沃德股份有限公司 | Method for partitioning indoor area and robotic vacuum cleaner |
| CN111443699A (en) * | 2018-12-28 | 2020-07-24 | 深圳市优必选科技有限公司 | Positioning drift detection method and device and robot |
-
2015
- 2015-11-26 CN CN201520963277.4U patent/CN205656496U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107981790A (en) * | 2017-12-04 | 2018-05-04 | 深圳市沃特沃德股份有限公司 | Room area division methods and sweeping robot |
| WO2019109225A1 (en) * | 2017-12-04 | 2019-06-13 | 深圳市沃特沃德股份有限公司 | Method for partitioning indoor area and robotic vacuum cleaner |
| CN108594823A (en) * | 2018-05-21 | 2018-09-28 | 珠海格力电器股份有限公司 | The control method and its control system of sweeping robot |
| CN109637339A (en) * | 2018-11-19 | 2019-04-16 | 深圳市海柔创新科技有限公司 | Ground drawing generating method, device, computer readable storage medium and computer equipment |
| CN109637339B (en) * | 2018-11-19 | 2022-08-09 | 深圳市海柔创新科技有限公司 | Map generation method, map generation device, computer-readable storage medium and computer equipment |
| CN111443699A (en) * | 2018-12-28 | 2020-07-24 | 深圳市优必选科技有限公司 | Positioning drift detection method and device and robot |
| CN111443699B (en) * | 2018-12-28 | 2023-05-23 | 深圳市优必选科技有限公司 | Positioning drift detection method and device and robot |
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