TWI649057B - Cleaning system of environmental scanning inmidiately - Google Patents

Abstract

The invention provides a cleaning system for real-time environment scanning, which mainly uses an omnidirectional photographic device to capture an omnidirectional image, and then the omnidirectional image is recognized by the identification judging unit to determine whether the omnidirectional image meets the cleaning standard, if The cleaning robot is not driven to clean, but if the cleaning standard is not met, the identification determining unit transmits a message to the micro control unit to drive the driving device provided by the cleaning robot through the micro control unit. In addition, a calculation unit can be provided for route planning and power control. Into achieve automatic cleaning.

Description

Instant environment scanning cleaning system

The present invention relates to a cleaning system for determining whether to drive an immediate environmental scan of a cleaning robot through the determination of an omnidirectional image.

With the rapid development of technology, with the continuous innovation of technology, in the electronics industry, automation electronic devices are also growing, and technology is gradually progressing to the mature realm, such as the robot industry, so with the gradual progress of robotics, Nowadays, various functions have been given to robots such as disaster relief, cleaning, production, etc. For smart sweeping robots, the way to automatically perform cleaning work has been widely used in the home. In order to perform the task of cleaning, it must have the functions that it has to perform when performing tasks.

The intelligent type of sweeping robot can drive the sweeping robot to move through the relevant driving device, and then the sensing device can make the sweeping robot effectively avoid the related obstacles. In addition, a camera can be provided to detect the direction of the sweeping robot. However, the above-mentioned conventional cleaning robot can perform the cleaning function, but it cannot perform the relevant judgment, that is, even if the intelligent wisdom sweeping robot can perform the cleaning operation, it must be started (turn on the switch). The sweeping robot can effectively drive the sweeping robot to clean after the action of remote remote control or starting by a specific time. However, if the environment is dirty and must be cleaned, the sweeping robot cannot enter the robot. After the line is judged, the cleaning robot is activated to clean the line.

In addition, even though the conventional sweeping robot can be equipped with a camera to detect the state of the sweeping robot in the direction of the path, the image captured by the camera cannot be effectively judged in the judgment of whether the environment needs to be cleaned. Therefore, it can be seen from the above that the conventional cleaning robot has the disadvantage that it is impossible to automatically judge whether the environment needs to be cleaned. Therefore, the inventors have invented a cleaning system for instant environmental scanning to effectively improve the disadvantages of the conventional use.

Therefore, in order to improve the purpose of the above disclosure, the present invention provides a cleaning system for real-time environment scanning, which is applied to the field of automatic cleaning of a cleaning robot, mainly comprising: a cleaning robot; a micro-control element, which is disposed in the cleaning robot. The omnidirectional photographic device is disposed on one side of the sweeping robot to capture the omnidirectional environment outside the sweeping robot and is generated as an omnidirectional image according to the omnidirectional environment captured therein; the identification judging unit is disposed in the sweeping robot And the omnidirectional photographic device and the micro-control element are connected, the identification judging unit is internally provided with a storage unit, and the storage unit stores a neat image for the recognition judging unit to judge the cleaning standard for the omnidirectional image; And a calculation unit, which is disposed in the cleaning robot and is connected with the micro control element; wherein when the identification determination unit determines that the omnidirectional image meets the cleaning standard, the micro control element does not activate the cleaning robot; wherein the identification determination unit When it is judged that the omnidirectional image does not meet the cleaning standard, the identification judgment unit will send a clean The micro-control element is instructed by the calculation unit to instruct the calculation unit to perform the cleaning route, and then the cleaning route is transmitted back to the micro-control element, thereby driving the cleaning robot to clean according to its cleaning route; wherein the cleaning robot is in accordance with the cleaning route; Once the cleaning route has been cleaned, it will be moved to the charging location according to the planned return route within the cleaning route.

Preferably, the calculation unit further performs power control to control the power to reach a predetermined power The cleaning route is planned after the quantity is taken.

Preferably, when the cleaning robot moves to the charging position, the omnidirectional environment device scans the environment within a predetermined time.

Preferably, when the cleaning robot is cleaned according to a cleaning route, the omni-directional environment device scans the environment intermittently to obtain an updated omnidirectional image.

Preferably, when the omnidirectional image is updated to find new dirt and does not meet the cleaning standard, the calculation unit will plan an updated cleaning route, and the cleaning robot will clean according to the updated cleaning route.

In addition, the present invention also provides a method for cleaning an instant environment scan, which is applied to the field of automatic cleaning of a sweeping robot, and mainly includes: scanning an environment for a predetermined time through an all-round environment device to generate an omnidirectional image, and then The omnidirectional image is transmitted to the identification judgment unit; when the recognition determination unit receives the omnidirectional image, the tidy image stored in the storage unit is used to identify and determine whether the omnidirectional image meets the cleaning standard; When the identification judgment unit determines that the omnidirectional image meets the cleaning standard, the micro control element does not activate the cleaning robot; and when the omnidirectional image does not meet the cleaning standard, the calculation unit plans a cleaning route, and then passes through the micro The control unit drives the cleaning robot to clean according to its cleaning route; and when the cleaning robot cleans according to the cleaning route, it will move to the charging position according to the planned return route in the cleaning route.

Preferably, the calculation unit further performs power control to control the cleaning route after the power is controlled to reach the predetermined power.

Preferably, when the cleaning robot moves to the charging position, the omnidirectional environment device scans the environment within a predetermined time.

Preferably, when the cleaning robot cleans according to the cleaning route, the full environment is installed The environment is scanned intermittently to obtain an updated omnidirectional image.

Preferably, when the omnidirectional image is updated to find new dirt and does not meet the cleaning standard, the calculation unit will plan an updated cleaning route, and the cleaning robot will clean according to the updated cleaning route.

The above described objects, features and advantages of the present invention will become more apparent from the detailed description of the appended claims.

10‧‧‧Sweeping robot

20‧‧‧Microcontrol element

30‧‧‧ omnidirectional camera

31‧‧‧All-round imagery

32‧‧‧Update omnidirectional image

40‧‧‧ Identification and judgment unit

41‧‧‧ storage unit

42‧‧‧Neat image

43‧‧‧ cleaning standards

44‧‧‧Clean message

50‧‧‧Charging location

60‧‧‧ calculus unit

61‧‧‧Clean route

611‧‧‧Return route

62‧‧‧Predetermined power

63‧‧‧Update cleaning route

Figure 1 is a block diagram of the system of the present invention.

Figure 2 is a flow chart of the cleaning route of the present invention.

Figure 3 is a flow chart of the updated cleaning route of the present invention.

In order to facilitate the review of the contents of the present invention and the achievable effects, the specific embodiments of the drawings are described in detail as follows: Please refer to FIG. 1 and FIG. 2 for the present invention. The system connection diagram and the cleaning route flow chart, as shown in the figure, the invention mainly includes a cleaning robot 10; a micro control unit 20, which is disposed in the cleaning robot 10; and an omnidirectional imaging device 30, which is disposed on one side of the cleaning robot 10 The omnidirectional environment outside the sweeping robot 10 is captured and generated as an omnidirectional image 31 according to the omnidirectional environment captured therein; the identification determining unit 40 is disposed in the sweeping robot 10 and is integrated with the omnidirectional photographing device 30 and the micro The control unit 20 is connected, and the identification unit 40 is internally provided with a storage unit 41. The storage unit 41 stores a clean image 42 for the recognition determination unit 40 to perform the cleaning standard 43 for the omnidirectional image 31; The calculation unit 50 is provided in the cleaning robot 10 and is coupled to the micro control unit 20.

Thus, when the cleaning robot 10 is in the charging position 50, the user can set the omnidirectional imaging device 30 to perform an environmental scan for a predetermined time, and the time setting may include, but is not limited to, 5 minutes, 10 minutes, 30 minutes or After 60 minutes, etc., an omnidirectional image 31 is obtained through the scanning of the environment, and then the omnidirectional imaging device 30 can transmit the omnidirectional image 31 to the identification determining unit 40 for identification determination, and the identification determining unit 40 recognizes After the omnidirectional image 31 is an image taken by the omnidirectional environment, the omnidirectional image 31 and the tidy image 42 stored in the storage unit 41 provided in the identification determining unit 40 are compared with each other. To determine whether the omnidirectional image 31 meets the cleaning criteria 43, that is, if the omnidirectional image 31 is found to be dirty near the neat image 42 and is found to be dirty everywhere, it is not clean. The standard 43, if the omnidirectional image 31 is compared with the neat image 42, is not found in the omnidirectional image 31, that is, the cleaning standard 43 is met.

When the recognition determination unit 40 determines that the omnidirectional image 31 meets the cleaning criteria 43, the micro-control element 20 does not drive the cleaning robot 10 to operate, and the omnidirectional imaging device 30 performs environmental scanning according to the predetermined time setting; When the omnidirectional image 31 does not meet the cleaning criteria 43, the identification determination unit 40 sends a cleaning message 44 to the micro control unit 20, and the micro control unit 20 instructs the calculation unit 60 to plan the cleaning route 61. Before the cleaning route 61 is planned, the calculation unit 60 further determines whether to perform the planning of the cleaning route 61 according to the remaining amount of the electric quantity. If the electric quantity does not reach the predetermined electric quantity 62, the electric power is charged after the electric quantity is charged to the predetermined electric quantity 62 or more. The planning of the route 61, and the predetermined power amount 62 can be 30% to 80%, etc., so that when the cleaning robot 10 performs the cleaning operation, half of the cleaning operation is stagnant due to insufficient power, and the charging position cannot be effectively returned to the charging position. 50 for charging, etc.

If the remaining amount of power has reached the predetermined amount 62, the calculation unit 60 will start planning the cleaning route 61 and transmit its cleaning route 61 to the micro-control unit 20 to drive the sweep by its micro-control element 20. The ground robot 10 performs a cleaning operation in accordance with the cleaning route 61; after the cleaning operation is completed, the cleaning robot 10 moves to the charging position 50 in accordance with the planned return route 611 in the cleaning route 61 for charging.

Please refer to FIG. 3 , which is an updated cleaning route flowchart of the present invention. Please refer to FIG. 1 and FIG. 2 together. As shown in the figure, when the cleaning robot 10 performs cleaning operations according to the cleaning route 61, it is comprehensive. The photographic device 30 may continue the environmental scanning during an interval of time, and the time interval may include, but is not limited to, an interval of 3 seconds, 5 seconds, 10 seconds, 15 seconds, etc., and the time interval may also be according to the user. Setting is performed; however, when the omnidirectional imaging device 30 performs an environmental scan, if a new stain is found in the updated omnidirectional image 32 (which may be blocked by table or chair or other solid occlusion) When the environment scans, the calculation unit 60 plans an update cleaning route 63 to the micro control unit 20, and the micro control unit 20 drives the cleaning robot 10 to perform the cleaning operation according to the updated cleaning route 63, thereby further The ground reaches the role of automatic cleaning.

However, when the calculation unit 60 further plans to update the cleaning route 63, it will first determine whether the remaining power has reached the predetermined power level 62. If the power is lower than the predetermined power 62, the calculation unit 60 will stop planning the update and cleaning. Route 63, in order to cause the cleaning robot 10 to clean according to the cleaning route 61 and move to the charging position 50 according to the return route 611 and charge to the predetermined power amount 62 or more, and then plan its updated cleaning route 63 to drive the cleaning robot 10 to update the cleaning route according to it. 63 to carry out cleaning work.

However, the above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto; therefore, the simple equivalent changes made by the scope of the invention and the contents of the invention are Modifications are still within the scope of the invention.

Claims (10)

The invention relates to a cleaning system for real-time environment scanning, which is applied to the field of automatic cleaning of a sweeping robot, and mainly comprises: a sweeping robot; a micro control unit, which is disposed in the sweeping robot; and an omnidirectional photographing device, which is disposed in the The sweeping robot generates an omnidirectional image on the one side of the sweeping robot and generates an omnidirectional image according to the omnidirectional environment captured by the sweeping robot; an identification judging unit is disposed in the sweeping robot and is in the omnidirectional photographing The device and the micro control unit are connected to each other, and the identification determining unit is internally provided with a storage unit for storing a neat image for the identification determining unit to perform a cleaning criterion for the omnidirectional image; An calculus unit is disposed in the cleaning robot and coupled to the micro control unit; wherein when the identification determining unit determines that the omnidirectional image meets the cleaning standard, the micro control unit does not activate the cleaning robot to clean Wherein the identification determination unit is determined when the identification determination unit determines that the omnidirectional image does not meet the cleaning criterion A cleaning message is sent to the micro control unit, and the micro control unit instructs the calculation unit to perform the planning of the cleaning route, and then sends the cleaning route back to the micro control unit, thereby driving the cleaning robot according to the The cleaning route is cleaned; after the cleaning robot completes cleaning according to the cleaning route, it moves to a charging position according to a planned return route in the cleaning route. The cleaning system of claim 1, wherein the omni-directional environment device scans the environment within a predetermined time after the cleaning robot moves to the charging position. The cleaning system of claim 2, wherein when the cleaning robot cleans according to the cleaning route, the omni-directional environment device scans the environment intermittently to obtain an updated omnidirectional image. The cleaning system of claim 3, wherein when the updated omnidirectional image finds new contamination and does not meet the cleaning standard, the calculation unit re-plans an updated cleaning route, the sweeping The robot will clean according to the updated cleaning route. The cleaning system of claim 4, wherein the calculation unit further performs power control to control the cleaning route or the updating of the cleaning route after the power is controlled to reach the predetermined power. The invention relates to a cleaning method for real-time environment scanning, which is applied to the field of automatic cleaning of a cleaning robot, which mainly comprises: scanning an environment through a omnidirectional environment device to generate a omnidirectional image after a predetermined time, and then omnidirectionally drawing the omnidirectional image The image is sent to an identification determination unit; when the recognition determination unit receives the omnidirectional image, a clean image is stored by a storage unit to identify and determine whether the omnidirectional image meets a cleaning standard When the identification determining unit determines that the omnidirectional image meets the cleaning standard, a micro control unit does not activate the cleaning robot to clean; and when the omnidirectional image does not meet the cleaning standard, the calculation unit plans a cleaning route, wherein the cleaning robot drives the cleaning robot to clean according to the cleaning route; and when the cleaning robot cleans according to the cleaning route, it moves according to a planned backhaul route in the cleaning route. To a charging position. The cleaning method according to claim 6, wherein when the cleaning robot moves After moving to the charging position, the omni-directional environment device scans the environment for a predetermined time. The cleaning method of claim 7, wherein when the cleaning robot cleans according to the cleaning route, the omnidirectional environment device scans the environment intermittently to obtain an updated omnidirectional image. The cleaning method of claim 8, wherein when the updated omnidirectional image finds new dirt and does not meet the cleaning standard, the calculation unit re-plans an updated cleaning route, the sweeping The robot will clean according to the updated cleaning route. The cleaning method of claim 9, wherein the calculation unit further performs a power control to control the cleaning route or the update cleaning route after the power is controlled to reach a predetermined power.