WO2016074628A1 - Method for constructing map by self-moving robot and operating method by using map - Google Patents

Method for constructing map by self-moving robot and operating method by using map Download PDF

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WO2016074628A1
WO2016074628A1 PCT/CN2015/094414 CN2015094414W WO2016074628A1 WO 2016074628 A1 WO2016074628 A1 WO 2016074628A1 CN 2015094414 W CN2015094414 W CN 2015094414W WO 2016074628 A1 WO2016074628 A1 WO 2016074628A1
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map
self
work
space
robot
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PCT/CN2015/094414
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French (fr)
Chinese (zh)
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汤进举
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科沃斯机器人有限公司
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Priority to CN201410648277.5A priority Critical patent/CN105652864A/en
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Publication of WO2016074628A1 publication Critical patent/WO2016074628A1/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions

Abstract

A method for constructing a map by a self-moving robot and an operating method by using the map. The method for constructing a map by a self-moving robot comprises: step 1: placing the self-moving robot in a to-be-operated space, and establishing a coordinate system corresponding to the to-be-operated space; and step 2: manually controlling and guiding the self-moving robot to move, on a path on which obstacles are avoided, in the to-be-operated space, collecting information about an ambient environment in a walking process, and establishing, in the coordinate system, a preliminary map of the to-be-operated space according to the information about the environment. Accordingly, the self-moving robot not only can be prevented from a collision in a process of constructing the map, but also the map can be updated in real time and operating points can be increased or decreased in an operating process, thereby simply and conveniently improving an operating accurate rate of the self-moving robot and improving operating efficiency.

Description

自移动机器人构建地图的方法及利用该地图的作业方法Method for constructing map from mobile robot and operation method using same 技术领域Technical field
本发明涉及一种自移动机器人构建地图的方法及利用该地图的作业方法,属于日用家电制造技术领域。The invention relates to a method for constructing a map from a mobile robot and a working method using the map, and belongs to the technical field of daily household appliance manufacturing.
背景技术Background technique
家用智能服务机器人以其控制便捷行走灵活得到广泛的使用,现有家用智能服务机器人通用的工作模式是使机器人从一开始工作就依靠自身获得环境信息并规划自己的行走路线。若在机器人开始工作时直接采用智能算法,让机器人自己扫描环境、制定地图并规划路径,这样可能存在机器人撞到障碍物的风险,而对于家用智能机器人中的某些体积和重量都比较大的机器人来说,一旦发生与障碍物的碰撞,很有可能会对室内的家具、家电或机器人本身造成不同程度的损伤。The home intelligent service robot is widely used for its convenient and flexible walking control. The common working mode of the existing home intelligent service robot is to enable the robot to obtain environmental information and plan its own walking route from the beginning. If the intelligent algorithm is directly used when the robot starts working, let the robot scan the environment, map and plan the path. This may cause the robot to hit the obstacle, but some of the volume and weight of the home intelligent robot are relatively large. For robots, once a collision with an obstacle occurs, it is likely to cause different degrees of damage to the furniture, appliances, or the robot itself.
发明内容Summary of the invention
本发明所要解决的技术问题在于针对现有技术的不足,提供一种自移动机器人构建地图的方法及利用该地图的作业方法,不但可以在构建地图的过程中,避免自移动机器人在运动中发生的碰撞,而且还可以在作业过程中实现对地图的实时更新和对工作点的增减调整,简单快捷地提高了自移动机器人的作业准确率进而提高了工作效率。The technical problem to be solved by the present invention is to provide a method for constructing a map from a mobile robot and a work method using the map, which can prevent the self-mobile robot from occurring during the process of constructing the map. Collision, but also real-time update of the map and adjustment of the work point during the operation process, improve the accuracy of the self-mobile robot and improve the work efficiency.
本发明所要解决的技术问题是通过如下技术方案实现的:The technical problem to be solved by the present invention is achieved by the following technical solutions:
一种自移动机器人构建地图的方法,包括如下步骤:A method for constructing a map from a mobile robot includes the following steps:
步骤一:将自移动机器人置入待作业空间内,建立与待作业空间相对应的坐标系;Step 1: placing the self-moving robot into the to-be-worked space, and establishing a coordinate system corresponding to the to-be-worked space;
步骤二:人工控制引导自移动机器人在待作业空间内以避开障碍物的路径行走,在行走过程中采集周围环境信息,依据所述环境信息在所述坐标系中建立待作业空间初步地图。Step 2: The manual control guides the self-mobile robot to walk in the work space to avoid obstacles, collects surrounding environment information during the walking process, and establishes a preliminary map of the work space in the coordinate system according to the environmental information.
为了便于引导自移动机器人作业,所述步骤二具体包括:在待作业空间地图中人为标记一点或多点的坐标形成一个或多个工作点。In order to facilitate the guidance from the mobile robot, the step 2 specifically includes: forming one or more working points by manually marking the coordinates of one or more points in the to-be-worked space map.
所述步骤二中采集周围环境信息具体为:将障碍物在所述待作业空间内的位置对应转换为在所述坐标系中的坐标,所述工作点为设定在人工控制自移动机器人运动的行走路径上的点;或者,所述待作业空间地图中非障碍物位置的任意点,当然,在实际操作过程中,所述任意点应当可以容得下自移动机器人的机身。The collecting ambient information in the second step is specifically: converting the position corresponding to the obstacle in the to-be-worked space into coordinates in the coordinate system, and the working point is setting the movement of the self-moving robot manually. a point on the walking path; or any point of the non-obstacle position in the to-be-worked space map, of course, in actual operation, the arbitrary point should be able to accommodate the body of the mobile robot.
为了方便操作,所述步骤二中人工控制引导自移动机器人行走的方法具体为:通 过遥控器、手机或平板电脑输入指令信号控制自移动机器人行走;或者,通过信号发射模块发射引导信号引导自移动机器人跟随行走。In order to facilitate the operation, the method for manually controlling the walking from the mobile robot in the second step is specifically: The command signal is input from the remote controller, the mobile phone or the tablet to control the walking from the mobile robot; or the pilot signal is transmitted through the signal transmitting module to guide the walking from the mobile robot.
更具体地,所述步骤二中自移动机器人构建待作业空间地图的方法具体为:通过设置在自移动机器人上的测距装置扫描周围环境获得障碍物位置并构建待作业空间地图;通过设置在自移动机器人上的摄像头模块拍摄周围环境图像,将拍摄图像处理后获得障碍物位置并构建待作业空间地图。More specifically, the method for constructing the to-be-worked space map from the mobile robot in the second step is specifically: obtaining an obstacle position by scanning a surrounding environment set by the ranging device on the mobile robot and constructing a space map to be operated; The camera module on the mobile robot takes a picture of the surrounding environment, processes the captured image to obtain an obstacle position, and constructs a map of the work space to be worked.
本发明还提供一种自移动机器人的作业方法,包括如下步骤:The invention also provides a working method of a self-mobile robot, comprising the following steps:
步骤100:将自移动机器人置入待作业空间内;Step 100: placing the self-moving robot into the waiting space;
步骤200:自移动机器人采用上述的方法构建待作业空间地图;Step 200: construct a to-be-worked space map from the mobile robot by using the above method;
步骤300:自移动机器人参照待作业空间地图,行走至一个工作点进行相应的作业,直到该工作点的作业完成或收到结束指令后结束作业;或者,自移动机器人参照待作业空间地图,在多个工作点中逐一作业,直到多个工作点的作业全部完成或收到结束指令后结束作业;或者,自移动机器人参照待作业空间地图,在多个工作点中循环作业,直到收到结束指令后结束作业。Step 300: The mobile robot refers to the to-be-worked space map, walks to a work point to perform a corresponding job, and ends the job until the work of the work point is completed or receives an end instruction; or, the mobile robot refers to the work space map, Work one by one in multiple work points until the work of multiple work points is completed or the end instruction is received; or, the mobile robot refers to the work space map and cycles through the work points until the end of the work. End the job after the instruction.
为了提高工作效率,所述步骤300还包括:使用者在自移动机器人在开始作业之前或在作业过程中对工作点进行人为更新,包括对工作点的删除和添加。In order to improve work efficiency, the step 300 further includes: the user manually updating the work point before the start of the work by the mobile robot, or during the work, including deleting and adding the work point.
为了进一步完善待作业空间地图,所述步骤300进一步包括:在自移动机器人作业过程中,如果检测到新障碍物,则将新障碍物在所述待作业空间内的位置对应转换为在所述坐标系中的坐标,并更新待作业空间地图。In order to further improve the to-be-worked space map, the step 300 further includes: if a new obstacle is detected during the self-mobile robot operation, converting the position of the new obstacle in the to-be-worked space into the The coordinates in the coordinate system and update the map of the workspace to be worked.
根据需要,所述自移动机器人可以为空气净化机器人。所述空气净化机器人在每个工作点处的净化时间为:10-30分钟。The self-mobile robot may be an air purification robot as needed. The purifying time of the air purifying robot at each working point is: 10-30 minutes.
所述自移动机器人还可以为地面清洁机器人。The self-mobile robot may also be a ground cleaning robot.
综上所述,本发明提供一种自移动机器人构建地图的方法及利用该地图的作业方法,不但可以在构建地图的过程中,避免自移动机器人在运动中发生的碰撞,而且还可以在作业过程中实现对地图的实时更新和对工作点的增减调整,简单快捷地提高了自移动机器人的作业准确率进而提高了工作效率。In summary, the present invention provides a method for constructing a map from a mobile robot and a work method using the map, which can avoid collisions of the self-mobile robot during the movement, and can also be used in the process of constructing the map. In the process, the real-time update of the map and the adjustment and adjustment of the working point are realized, and the operation accuracy of the self-mobile robot is improved simply and quickly, thereby improving the work efficiency.
下面结合附图和具体实施例,对本发明的技术方案进行详细地说明。The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
附图说明DRAWINGS
图1为本发明构建地图示意图。 1 is a schematic diagram of constructing a map of the present invention.
具体实施方式detailed description
图1为本发明构建地图示意图。如图1所示,自移动机器人在待作业空间X内,待作业空间X中各种形状散布开的实体块为多个障碍物M。具体来说自移动机器人构建地图和设定工作点的过程是这样的:1 is a schematic diagram of constructing a map of the present invention. As shown in FIG. 1, the self-moving robot is in the work space X, and the physical blocks in which the various shapes are to be dispersed in the work space X are a plurality of obstacles M. Specifically, the process of building a map and setting a work point from a mobile robot is like this:
首先,将自移动机器人置入待作业空间X内,该作业空间为某个房间,比如:客厅,建立与待作业空间相对应的坐标系,该坐标系可以为直角坐标系或极坐标系;其次,人工控制引导自移动机器人在待作业空间X内避开障碍物M的空旷区域内行走,避免发生不必要的碰撞,图1中的虚线为自移动机器人的行走路径P;在行走过程中将自移动机器人采集到的障碍物M在所述待作业空间内的位置对应转换为在所述坐标系中的坐标,形成待作业空间的初步地图,所述初步地图可以为整个待作业空间内的一部分地图或者整个待作业空间内的完整地图。在图1所示的实施例中,行走路径P为一条封闭曲线,在实际操作中,该行走路径P也可以就是一段曲线,不一定要形成封闭图形。人工控制引导自移动机器人行走可以采用遥控器人为输入指令信号控制自移动机器人,例如:通过遥控器上的按键输入前进、后退、左转或右转的指令信号,自移动机器人接收到所述指令信号后执行对应的动作,相同的原理,也可以利用手机或平板电脑等其他无线通讯设备对其进行行走控制。另外,人工控制引导自移动机器人行走还可以采用信号发射模块发射引导信号引导自移动机器人跟随行走,例如信号发射模块朝向自移动机器人发射红外信号,自移动机器人上的红外接收模块接收到所述红外信号后,跟随所述红外信号朝向信号发射模块行走,即自移动机器人始终跟随信号发射模块的行走轨迹行走。在行走的过程中自移动机器人会通过自身传感器扫描周围环境,在安全状况下获得待作业空间地图。自移动机器人可以通过多种方式获得待作业地图,例如:可以通过设置在自移动机器人上的测距(LDS)装置扫描周围环境获得障碍物位置并构建待作业空间地图;或者,也可以通过设置在自移动机器人上的摄像头模块拍摄周围环境图像,将拍摄图像处理后获得障碍物位置并构建待作业空间地图。实质上,自移动机器人首先建立与待作业空间相对应的坐标系,其次在运动过程中将障碍物在所述待作业空间内的位置对应转换为在所述坐标系中的坐标,形成待作业空间地图。当然,坐标系的建立也可以采用多种手段完成,最常用的手段是可以将自移动机器人置入待作业空间,就以其置入点O,也就是起始点作为坐标系的坐标原点或坐标基准建立坐标系,自移动机器人在运动过程中的每一个位置进行360°扫描,根据自移动机器人所在位置相对于起始位置的移动方向、角度和距离,获得相应的自移动机器人的坐标位置,并通过设置在自移动机器人上的传感器检测,直接获 得或经过计算转换获得障碍物的坐标位置,进而形成待作业空间地图。由于自移动机器人在待作业空间内行走并获得地图所采用的技术手段为现有技术,详细内容可参见申请号为200880106251.0的专利文献,不再详细赘述。First, the self-moving robot is placed in the work space X, which is a room, such as a living room, and a coordinate system corresponding to the work space is established, and the coordinate system may be a Cartesian coordinate system or a polar coordinate system; Secondly, the manual control guides the self-moving robot to walk in the open area of the work space X avoiding the obstacle M to avoid unnecessary collision. The dotted line in FIG. 1 is the walking path P of the self-moving robot; during the walking process Correspondingly, the position of the obstacle M collected by the mobile robot in the space to be worked is converted into coordinates in the coordinate system to form a preliminary map of the space to be worked, and the preliminary map may be in the entire space to be worked. Part of the map or a complete map of the entire workspace. In the embodiment shown in FIG. 1, the walking path P is a closed curve. In actual operation, the walking path P may also be a curve, and it is not necessary to form a closed figure. The manual control guides the walking from the mobile robot. The remote control can automatically control the self-moving robot by using a remote input command signal, for example, inputting a forward, backward, left turn or right turn command signal through a button on the remote controller, and receiving the command from the mobile robot. The corresponding action is performed after the signal, and the same principle can be used to control the walking by using other wireless communication devices such as a mobile phone or a tablet computer. In addition, the manual control guiding the walking from the mobile robot may also use the signal transmitting module to transmit a guiding signal to guide the walking from the mobile robot, for example, the signal transmitting module transmits an infrared signal toward the self-mobile robot, and the infrared receiving module on the mobile robot receives the infrared. After the signal, the infrared signal is followed to the signal transmitting module, that is, the self-moving robot always follows the walking trajectory of the signal transmitting module. During the walking process, the self-moving robot scans the surrounding environment through its own sensor and obtains a map of the space to be operated under safe conditions. The self-mobile robot can obtain the map of the job to be operated in various ways, for example, the obstacle position can be obtained by scanning the surrounding environment by a distance measuring (LDS) device provided on the self-mobile robot and constructing a map of the work space to be operated; or, by setting The camera module on the mobile robot captures the surrounding environment image, and the captured image is processed to obtain the obstacle position and construct a map of the work space. In essence, the self-moving robot first establishes a coordinate system corresponding to the space to be worked, and secondly converts the position of the obstacle in the space to be worked into the coordinates in the coordinate system during the movement to form a work to be performed. Space map. Of course, the establishment of the coordinate system can also be accomplished by a variety of means. The most common method is to place the self-moving robot into the waiting space, and place the point O, that is, the starting point as the coordinate origin or coordinate of the coordinate system. The reference establishes a coordinate system, and the 360° scan is performed from the mobile robot at each position during the movement, and the coordinate position of the self-mobile robot is obtained according to the moving direction, angle and distance of the position of the mobile robot relative to the starting position. And directly detected by the sensor set on the self-mobile robot The coordinate position of the obstacle is obtained or calculated to form a map of the space to be worked. The technical means adopted by the mobile robot to walk in the work space and obtain the map is the prior art. For details, refer to the patent document of the application No. 200880106251.0, and details are not described in detail.
随后,如图1所示,在自移动机器人的行走路径P上,可以根据之前建立的待作业空间地图,根据需要人为设定工作点。工作点可以是待作业空间内非障碍物位置的任意一点,可以是一点也可以是多点。参见图1所示的实施例,设定的工作点包括了位于行走路径P上的工作点A、B和C三点、位于行走路径P的封闭空间内的D点和位于行走路径P的封闭空间外的E点。在图1所示的实施例中,待作业空间X可以为客厅,自移动机器人可以为空气净化机器人,E点和B点分别为靠近厨房门口和厕所门口的区域,需要重点净化。具体来说,工作点设定方式是当使用遥控器控制机器人行走到A点时,用户想将此处设置净化工作点,则可根据遥控器设有标记工作点的功能键进行设置,此时空气净化机器人的控制单元会记录此位置在待作业空间地图中的坐标,以便在随后的作业步骤中返回该点进行指定的净化作业。而对于位于行走路径P之外的工作点,如图1所示的D点和E点,则可以通过外部设备直接输入D点和E点的坐标,或者在触摸屏上显示待作业空间地图,并通过触摸屏手动输入D点和E点。当然,图1所示的工作点仅仅是设置位置和数量的一种示例,使用者还可以根据待作业环境的不同与大小,设置更多或更少的工作点,甚至仅仅设置一个工作点即可。Subsequently, as shown in FIG. 1, on the walking path P of the self-mobile robot, the working point can be artificially set according to the needs of the previously established space map. The working point may be any point of the non-obstacle position in the work space, and may be one point or multiple points. Referring to the embodiment shown in Fig. 1, the set operating point includes three points of working points A, B and C on the walking path P, a point D in the closed space of the traveling path P, and a closed position in the walking path P. Point E outside the space. In the embodiment shown in FIG. 1, the work space X can be a living room, the self-moving robot can be an air purification robot, and the E points and B points are respectively close to the kitchen door and the toilet door, and need to be cleaned. Specifically, the working point setting mode is that when the remote controller is used to control the robot to walk to the A point, the user wants to set the cleaning working point here, and the setting can be set according to the function key of the remote control device that marks the working point. The control unit of the air purification robot records the coordinates of this position in the map of the work space to return to the point in the subsequent work step for the specified purge operation. For the working point located outside the walking path P, as shown in FIG. 1 for the D point and the E point, the coordinates of the D point and the E point can be directly input through the external device, or the map of the waiting space can be displayed on the touch screen, and Manually enter points D and E through the touch screen. Of course, the working point shown in FIG. 1 is only an example of setting the position and the number. The user can also set more or less working points according to the different sizes and sizes of the working environment, or even just set one working point. can.
综上所述,本发明提供一种自移动机器人构建地图的方法,包括如下步骤:步骤一:将自移动机器人置入待作业空间内,建立与待作业空间相对应的坐标系;步骤二:人工控制引导自移动机器人在待作业空间内避开障碍物的路径行走,在行走过程中采集周围环境信息,依据所述环境信息建立待作业空间初步地图。为了便于引导自移动机器人作业,所述步骤二具体包括:在待作业空间地图中人为标记一点或多点的坐标形成一个或多个工作点。所述步骤二中采集周围环境信息具体为:将障碍物在所述待作业空间内的位置对应转换为在所述坐标系中的坐标,所述工作点为设定在人工控制自移动机器人运动的行走路径上的点;或者,所述待作业空间地图中非障碍物位置的任意点。为了方便操作,所述步骤二中人工控制引导自移动机器人行走的方法具体为:通过遥控器、手机或平板电脑输入指令信号控制自移动机器人行走;或者,通过信号发射模块发射引导信号引导自移动机器人跟随行走。更具体地,所述步骤二中自移动机器人构建待作业空间地图的方法具体为:通过设置在自移动机器人上的测距装置扫描周围环境获得障碍物位置并构建待作业空间地图;通过设置在自移动机器人上的摄像头模块拍摄周围环境图像,将拍摄图像处理后获得障碍物位置并构建待作业空间地 图。In summary, the present invention provides a method for constructing a map from a mobile robot, comprising the following steps: Step 1: placing a self-moving robot into a to-be-worked space, and establishing a coordinate system corresponding to the to-be-worked space; Step 2: The manual control guides the mobile robot to walk in a path away from the obstacle in the work space, collects surrounding environment information during the walking process, and establishes a preliminary map of the work space according to the environmental information. In order to facilitate the guidance from the mobile robot, the step 2 specifically includes: forming one or more working points by manually marking the coordinates of one or more points in the to-be-worked space map. The collecting ambient information in the second step is specifically: converting the position corresponding to the obstacle in the to-be-worked space into coordinates in the coordinate system, and the working point is setting the movement of the self-moving robot manually. a point on the walking path; or any point in the map of the space to be worked that is not an obstacle. In order to facilitate the operation, the method for manually controlling the walking from the mobile robot in the second step is specifically: controlling the walking of the mobile robot by inputting a command signal by using a remote controller, a mobile phone or a tablet computer; or guiding the self-moving by transmitting a guiding signal through the signal transmitting module. The robot follows the walk. More specifically, the method for constructing the to-be-worked space map from the mobile robot in the second step is specifically: obtaining an obstacle position by scanning a surrounding environment set by the ranging device on the mobile robot and constructing a space map to be operated; The camera module on the mobile robot captures the image of the surrounding environment, and processes the captured image to obtain the obstacle position and construct the space to be operated. Figure.
通过以上的步骤和方式,本发明在人为介入的情况下构建了待作业空间地图,并在地图中人为对工作点进行标记。空气净化机器人基于待作业空间地图和标记的工作点,后续直接采用自身的智能路径规划算法到各个工作点进行净化作业。比如:空气净化机器人从某一初始位置出发,要去A点进行空气净化作业,会根据之前获得的待作业空间地图以及自身的智能路径规划算法寻找合适的路径去A点进行作业。所述的智能路径规划算法可以采用现有技术,比如人工势场算法、粒子群算法或人工势场和粒子群算法相结合的路径规划算法,在本申请人申请号为201410497805.1的在先申请中有详细地说明,具体内容可以参见该申请,在此不再赘述。空气净化机器人还可以采用同样的方法规划路径去B点至E点。除了可以设置工作点的位置之外,还可以设置在每个工作点处的作业时间,比如:在靠近厨房门口的E点净化10-15分钟,在靠近厕所门口的B点净化20-30分钟等等。Through the above steps and manners, the present invention constructs a map of the work space under the condition of human intervention, and manually marks the work points in the map. The air purifying robot is based on the working space map and the marked working point of the work space, and then directly uses its own intelligent path planning algorithm to perform the purifying operation at each working point. For example, the air purification robot starts from an initial position and goes to the A point for air purification. It will search for the appropriate path to the A point according to the previously obtained space map and its own intelligent path planning algorithm. The intelligent path planning algorithm may adopt a prior art, such as an artificial potential field algorithm, a particle swarm algorithm, or a path planning algorithm combining a artificial potential field and a particle swarm algorithm, in the prior application of the applicant's application number 201410497805.1. For details, refer to the application, and details are not described herein again. The air purification robot can also use the same method to plan the path to point B to point E. In addition to the position where the working point can be set, it is also possible to set the working time at each working point, for example: purify for 10-15 minutes at point E near the kitchen door and 20-30 minutes at point B near the door of the toilet. and many more.
另外,如果设定的工作点只有一个,那么空气净化机器人参照待作业空间地图,行走至一个工作点进行相应的作业,直到该工作点的作业完成后结束作业即可。如果设定的工作点为多个,空气净化机器人既可以按照远近顺序在多个工作点中逐一作业,直到多个工作点的作业全部完成后结束作业,又可以在多个工作点中循环作业,直到收到结束指令后结束作业。当然,在上述一点和多点逐一作业过程中,如果人为输入结束指令后,空气净化机器人也会即刻结束作业。In addition, if there is only one set working point, the air purifying robot refers to the map of the work space, and walks to a work point to perform the corresponding work, and the work is completed after the work of the work point is completed. If there are more than one set working point, the air purifying robot can work one by one in multiple working points according to the far and near order, until the work of multiple working points is completed, the work ends, and the operation can be repeated in multiple working points. Until the end of the instruction is received, the job ends. Of course, in the above-mentioned one-point and multi-point operation, if the human input ends the instruction, the air purification robot will immediately finish the operation.
为了提高净化作业效率,除了在开始作业之前设定好工作点之外,使用者在空气净化机器人的作业过程中还可以对工作点进行人为更新,包括对原有工作点的删除和新工作点的添加。为了进一步完善待作业空间地图,在空气净化机器人作业过程中,如果检测到新障碍物,则将新障碍物在所述待作业空间内的位置对应转换为在所述坐标系中的坐标,并更新待作业空间地图。In order to improve the efficiency of the purification operation, in addition to setting the working point before starting the operation, the user can also manually update the working point during the operation of the air purification robot, including the deletion of the original working point and the new working point. Added. In order to further improve the space map to be operated, if a new obstacle is detected during the operation of the air purification robot, the position of the new obstacle in the space to be worked is converted into coordinates in the coordinate system, and Update the workspace map.
需要说明的是,所述自移动机器人除了本实施例中的空气净化机器人之外,还可以包括其他类型的机器人,比如:地面清洁机器人或洒水机器人等。另外,所述工作点也不应当仅限于待作业空间地图中对应的一个坐标点,同样可以延伸为以所述坐标点为中心的一个区域范围,例如以所述坐标点为中心的一个圆形区域或矩形区域,当然该区域的大小可以根据需要对应设置,自移动机器人在该区域内作业。It should be noted that the self-mobile robot may include other types of robots, such as a ground cleaning robot or a watering robot, in addition to the air purification robot in this embodiment. In addition, the working point should not be limited to a corresponding coordinate point in the map of the work space, and may also be extended to a range of regions centered on the coordinate point, for example, a circle centered on the coordinate point. A region or a rectangular area. Of course, the size of the area can be set as needed, and the mobile robot operates in the area.
总而言之,本发明还提供一种自移动机器人的作业方法,包括如下步骤:步骤100:将自移动机器人置入待作业空间内;步骤200:自移动机器人采用上述的方法构建待作业空间地图;步骤300:自移动机器人参照待作业空间地图,行走至一个工作点进 行相应的作业,直到该工作点的作业完成或收到结束指令后结束作业;或者,自移动机器人参照待作业空间地图,在多个工作点中逐一作业,直到多个工作点的作业全部完成或收到结束指令后结束作业;或者,自移动机器人参照待作业空间地图,在多个工作点中循环作业,直到收到结束指令后结束作业。为了提高工作效率,所述步骤300还包括:使用者在自移动机器人在开始作业之前或在作业过程中对工作点进行人为更新,包括对工作点的删除和添加。为了进一步完善待作业空间地图,所述步骤300进一步包括:在自移动机器人作业过程中,如果检测到新障碍物,则将新障碍物在所述待作业空间内的位置对应转换为在所述坐标系中的坐标,并更新待作业空间地图。In summary, the present invention further provides a self-mobile robot working method, comprising the following steps: Step 100: placing a self-mobile robot into a work space; Step 200: constructing a work space map from the mobile robot by using the above method; 300: From the mobile robot, refer to the map of the work space, and walk to a work point. The corresponding job is executed until the job of the work point is completed or the end instruction is received; or the mobile robot refers to the work space map and operates one by one in a plurality of work points until the work of the plurality of work points is completed. Or the job is terminated after receiving the end instruction; or, the mobile robot refers to the to-be-worked space map, and cycles the work among the plurality of work points until the end instruction is received. In order to improve work efficiency, the step 300 further includes: the user manually updating the work point before the start of the work by the mobile robot, or during the work, including deleting and adding the work point. In order to further improve the to-be-worked space map, the step 300 further includes: if a new obstacle is detected during the self-mobile robot operation, converting the position of the new obstacle in the to-be-worked space into the The coordinates in the coordinate system and update the map of the workspace to be worked.
综上所述,本发明提供一种自移动机器人构建地图的方法及利用该地图的作业方法,不但可以在构建地图的过程中,避免自移动机器人在运动中发生的碰撞,而且还可以在作业过程中实现对地图的实时更新和对工作点的增减调整,简单快捷地提高了自移动机器人的作业准确率进而提高了工作效率。 In summary, the present invention provides a method for constructing a map from a mobile robot and a work method using the map, which can avoid collisions of the self-mobile robot during the movement, and can also be used in the process of constructing the map. In the process, the real-time update of the map and the adjustment and adjustment of the working point are realized, and the operation accuracy of the self-mobile robot is improved simply and quickly, thereby improving the work efficiency.

Claims (11)

  1. 一种自移动机器人构建地图的方法,其特征在于,所述方法包括如下步骤:A method for constructing a map from a mobile robot, characterized in that the method comprises the following steps:
    步骤一:将自移动机器人置入待作业空间内,建立与待作业空间相对应的坐标系;Step 1: placing the self-moving robot into the to-be-worked space, and establishing a coordinate system corresponding to the to-be-worked space;
    步骤二:人工控制引导自移动机器人在待作业空间内以避开障碍物的路径行走,在行走过程中采集周围环境信息,依据所述环境信息在所述坐标系中建立待作业空间初步地图。Step 2: The manual control guides the self-mobile robot to walk in the work space to avoid obstacles, collects surrounding environment information during the walking process, and establishes a preliminary map of the work space in the coordinate system according to the environmental information.
  2. 如权利要求1所述的方法,其特征在于,所述步骤二具体包括:在待作业空间地图中人为标记一点或多点的坐标形成一个或多个工作点。The method of claim 1, wherein the step 2 comprises: forming one or more working points by artificially marking coordinates of one or more points in the to-be-worked space map.
  3. 如权利要求2所述的方法,其特征在于,所述步骤二中采集周围环境信息具体为:将障碍物在所述待作业空间内的位置对应转换为在所述坐标系中的坐标,所述工作点为设定在人工控制自移动机器人运动的行走路径上的点;The method according to claim 2, wherein the collecting ambient information in the second step is specifically: converting a position corresponding to the obstacle in the to-be-worked space into a coordinate in the coordinate system, The working point is a point set on a walking path for manually controlling the movement of the self-moving robot;
    或者,所述待作业空间地图中非障碍物位置的任意点。Alternatively, any point in the map of the to-be-worked space that is not an obstacle location.
  4. 如权利要求1-3任一项所述的方法,其特征在于,所述步骤二中人工控制引导自移动机器人行走的方法具体为:通过遥控器、手机或平板电脑输入指令信号控制自移动机器人行走;The method according to any one of claims 1-3, wherein the method for manually controlling the walking from the mobile robot in the second step is specifically: controlling the self-mobile robot by inputting a command signal through a remote controller, a mobile phone or a tablet computer. walk;
    或者,通过信号发射模块发射引导信号引导自移动机器人跟随行走。Alternatively, the pilot signal is transmitted by the signal transmitting module to guide the walking from the mobile robot.
  5. 如权利要求4所述的方法,其特征在于,所述步骤二中自移动机器人构建待作业空间地图的方法具体为:通过设置在自移动机器人上的测距装置扫描周围环境获得障碍物位置并构建待作业空间地图;The method according to claim 4, wherein the method for constructing the to-be-worked space map from the mobile robot in the second step is specifically: obtaining an obstacle position by scanning a surrounding environment by a ranging device provided on the self-mobile robot and Construct a map of the work space to be operated;
    或者,通过设置在自移动机器人上的摄像头模块拍摄周围环境图像,将拍摄图像处理后获得障碍物位置并构建待作业空间地图。Alternatively, the surrounding environment image is captured by a camera module provided on the self-mobile robot, and the captured image is processed to obtain an obstacle position and a to-be-worked space map is constructed.
  6. 一种自移动机器人的作业方法,其特征在于,包括如下步骤:A method for operating a self-moving robot, comprising the steps of:
    步骤100:将自移动机器人置入待作业空间内;Step 100: placing the self-moving robot into the waiting space;
    步骤200:自移动机器人采用如权利要求1-5任一项所述的方法构建待作业空间地图;Step 200: Construct a to-be-worked space map from the mobile robot by using the method according to any one of claims 1-5;
    步骤300:自移动机器人参照待作业空间地图,行走至一个工作点进行相应的作 业,直到该工作点的作业完成或收到结束指令后结束作业;Step 300: The mobile robot refers to the work space map and walks to a work point to perform corresponding work. The job is completed until the job at the work point is completed or the end instruction is received;
    或者,自移动机器人参照待作业空间地图,在多个工作点中逐一作业,直到多个工作点的作业全部完成或收到结束指令后结束作业;Alternatively, the self-moving robot refers to the to-be-worked space map and operates one by one among the plurality of working points until the operations of the plurality of working points are all completed or the end instruction is received;
    或者,自移动机器人参照待作业空间地图,在多个工作点中循环作业,直到收到结束指令后结束作业。Alternatively, the self-moving robot refers to the to-be-worked space map and cycles through the plurality of work points until the end instruction is received.
  7. 如权利要求6所述的作业方法,其特征在于,所述步骤300还包括:使用者在自移动机器人在开始作业之前或在作业过程中对工作点进行人为更新,包括对工作点的删除和添加。The work method according to claim 6, wherein the step 300 further comprises: the user manually updating the work point before the start of the work by the mobile robot, or during the work, including deleting the work point and Add to.
  8. 如权利要求7所述的作业方法,其特征在于,所述步骤300进一步包括:在自移动机器人作业过程中,如果检测到新障碍物,则将新障碍物在所述待作业空间内的位置对应转换为在所述坐标系中的坐标,并更新待作业空间地图。The working method according to claim 7, wherein said step 300 further comprises: in the self-mobile robot operation, if a new obstacle is detected, placing a new obstacle in the space to be worked The correspondence is converted to coordinates in the coordinate system, and the to-be-worked space map is updated.
  9. 如权利要求6-8任一项所述的作业方法,其特征在于,所述自移动机器人为空气净化机器人。The working method according to any one of claims 6 to 8, wherein the self-moving robot is an air purifying robot.
  10. 如权利要求9所述的作业方法,其特征在于,所述空气净化机器人在每个工作点处的净化时间为:10-30分钟。The working method according to claim 9, wherein the purifying time of the air purifying robot at each working point is: 10-30 minutes.
  11. 如权利要求6-8任一项所述的作业方法,其特征在于,所述自移动机器人为地面清洁机器人。 The working method according to any one of claims 6 to 8, wherein the self-moving robot is a ground cleaning robot.
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