WO2017215324A1 - 自动清扫机器人装置 - Google Patents

自动清扫机器人装置 Download PDF

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Publication number
WO2017215324A1
WO2017215324A1 PCT/CN2017/079516 CN2017079516W WO2017215324A1 WO 2017215324 A1 WO2017215324 A1 WO 2017215324A1 CN 2017079516 W CN2017079516 W CN 2017079516W WO 2017215324 A1 WO2017215324 A1 WO 2017215324A1
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Prior art keywords
pan
tilt
automatic cleaning
cleaning robot
robot apparatus
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PCT/CN2017/079516
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English (en)
French (fr)
Inventor
恽为民
邓寅喆
庞作伟
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上海未来伙伴机器人有限公司
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Publication of WO2017215324A1 publication Critical patent/WO2017215324A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present invention relates to the field of mobile robots, and in particular to an automatic cleaning robot device.
  • Cleaning robots are a hot research direction in the field of service robots today.
  • the vacuuming robot organically combines the mobile robot technology and the vacuum cleaner technology to realize semi-automatic or fully automatic cleaning of the indoor environment (ground), replacing the traditional heavy manual cleaning work, and has been paid attention to by researchers at home and abroad in recent years.
  • the intelligent autonomous vacuum cleaner As a special application of intelligent mobile robots, from the technical point of view, the intelligent autonomous vacuum cleaner more specifically reflects the key technologies of mobile robots, and has a strong representativeness. From the perspective of market prospects, autonomous vacuum cleaners will greatly reduce labor intensity and improve labor efficiency, and are suitable for various venues such as homes and public venues.
  • the cleaning robot of the prior art often cannot perform effective path selection for a complicated road surface state. Even in the case of a large amount of furniture space, there are cases where the cleaning robot is trapped in a certain area or a corner and cannot be automatically released.
  • those skilled in the art are directed to developing an automatic cleaning robot apparatus that can avoid obstacles and efficiently plan a cleaning path in a housing space with a large number of furniture.
  • the technical problem to be solved by the present invention is to provide an automatic cleaning robot device that can avoid obstacles and effectively plan a cleaning path in a housing space with a large number of furniture.
  • the present invention provides an automatic cleaning robot apparatus including: a robot housing, a pan/tilt mounted on the robot housing, a cleaning mechanism disposed at an inner bottom of the robot housing, and a moving drive structure And a computing processing and control device mounted on the pan/tilt or in the robot housing; wherein the pan/tilt is rotated left and right relative to the mounting position of the robot housing under the control of the computing processing and control device and Pitch rotation, the mobile drive structure drives the entire automatic cleaning robot device to travel on the ground under the control of the calculation processing and control device; wherein the pan/tilt housing has a first opening and a second opening; and the pan/tilt is fixed A depth information sensing sensor is installed; and the depth information sensing sensor senses environmental information through the first opening and/or the second opening.
  • the calculation processing and control device controls the left and right rotation and the pitch rotation of the pan/tilt to activate the depth information sensing sensor to sense the environmental information, and receive the environment sensed by the sensing sensor. Information; moreover, the computing processing and control device is combined with the pan/tilt left The angle of the right rotation, the angle of the pitch rotation, and the environmental information received in real time to draw a three-dimensional map of the surrounding environment, and the cleaning path is planned based on the three-dimensional map of the surrounding environment, and the moving drive structure is started according to the cleaning path and the movement driving structure is controlled. Moving the line.
  • the calculation processing and control device makes the mobile driving structure tentatively, and starts the depth information sensing sensor while controlling the left and right rotation and the pitch rotation of the gimbal again. Sensing the environment information, and receiving the environmental information sensed by the sensor; and the computing processing and control device is combined with the angle of the left and right rotation of the pan/tilt, the angle of the pitch rotation, and the environmental information received in real time.
  • a three-dimensional map of the surrounding environment, and a new cleaning path is planned based on the three-dimensional map of the surrounding environment, and the moving drive structure is started according to the new cleaning path and the moving line of the mobile driving structure is controlled.
  • the calculation processing and control device controls the cleaning mechanism to perform a ground cleaning operation.
  • the depth information sensing sensor comprises an infrared time of flight sensor, a laser time of flight sensor, an RGB-D camera, and a monocular structured light camera.
  • the robot housing is an openable structure.
  • the automatic cleaning robot device realizes horizontal rotation and pitch rotation scanning through the pan/tilt to expand the sensing range; and according to the attitude feedback of the gimbal, draws a three-dimensional map of the surrounding environment; and perceives the surrounding environment through the gimbal system to realize indoor positioning and obstacle avoidance Plan the cleaning path and optimize the cleaning traversal rate.
  • FIG. 1 is a perspective view showing the outline of an automatic cleaning robot apparatus according to a preferred embodiment of the present invention.
  • FIG. 2 is a simplified plan view showing the internal structure of an automatic cleaning robot apparatus in accordance with a preferred embodiment of the present invention.
  • FIG. 3 is a functional block diagram of an automatic cleaning robot apparatus in accordance with a preferred embodiment of the present invention.
  • FIG. 1 is a perspective view showing the outer structure of an automatic cleaning robot apparatus according to a preferred embodiment of the present invention
  • FIG. 2 is a simplified plan view showing the internal structure of the automatic cleaning robot apparatus according to a preferred embodiment of the present invention
  • FIG. 3 is a preferred embodiment according to the present invention. Functional block diagram of the automatic cleaning robot.
  • an automatic cleaning robot apparatus includes: a robot housing 100, a platform 200 mounted on the robot housing 100, and a robot housing A cleaning mechanism 300 and a moving drive structure 400 at the bottom of the body 100, and a calculation processing and control device 500 mounted on the pan/tilt head 200 or in the robot housing 100.
  • the pan/tilt head 200 can be rotated left and right and pitched with respect to the mounting position of the robot housing 100 under the control of the computing processing and control device 500.
  • the mobile drive structure 400 is used to drive the entire automatic cleaning robot device to travel on the ground under the control of the computing processing and control device 500.
  • the cloud platform 200 has a first opening 21 and a second opening 22; further, a depth information sensing sensor 600 is fixedly mounted in the platform 200; and the depth information sensing sensor passes through the first opening 21 and/or second opening 22 senses environmental information.
  • the calculation processing and control device 500 controls the depth information sensing sensor 600 to sense the environmental information while controlling the left and right rotation and the pitch rotation of the pan/tilt 200, and receives the sensing sensor 600 sensed.
  • Environmental information further, the calculation processing and control device 500 draws a three-dimensional map of the surrounding environment in combination with the angle of the left and right rotation of the pan/tilt 200, the angle of the pitch rotation, and the environmental information received in real time, and is based on the three-dimensional map of the surrounding environment.
  • the cleaning path is planned, and the mobile drive structure 400 is activated in accordance with the cleaning path and the mobile line of the mobile drive structure 400 is controlled.
  • the calculation processing and control device 500 makes the mobile driving structure 400 tentatively, and controls the pan/tilt 200 to rotate the left and right and the pitch rotation simultaneously.
  • the information sensing sensor 600 senses the environmental information and receives the environmental information sensed by the sensing sensor 600.
  • the computing processing and control device 500 combines the angle of the pan/tilt 200 to rotate left and right, the angle of the pitch rotation, and the real time.
  • the received environmental information is used to draw a three-dimensional map of the surrounding environment, and a new cleaning path is planned based on the three-dimensional map of the surrounding environment, and the mobile driving structure 400 is started according to the new cleaning path and the moving line of the mobile driving structure 400 is controlled.
  • calculation processing and control device 500 controls the cleaning mechanism 300 to perform a ground cleaning operation.
  • the depth information sensing sensor includes an infrared/laser time of flight (TOF) sensor, an RGB-D camera, a monocular structured optical camera, and the like.
  • TOF infrared/laser time of flight
  • RGB-D camera a monocular structured optical camera
  • the robot housing 100 is an openable structure so that cleaning or replacement of the cleaning mechanism can be facilitated.
  • the automatic cleaning robot apparatus realizes horizontal rotation and pitch rotation scanning through the pan/tilt to expand the sensing range; and according to the attitude of the gimbal, the three-dimensional map of the surrounding environment is drawn.
  • the PTZ system to sense the surrounding environment, achieve indoor positioning obstacle avoidance, plan cleaning paths, and optimize cleaning traversal rate.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electromagnetism (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

一种自动清扫机器人装置，包括：机器人壳体（100）、安装在机器人壳体（100）上的云台（200）、布置在机器人壳体（100）内部底部的清扫机构（300）和移动驱动结构（400）、以及安装在云台（200）上或者机器人壳体（100）内的计算处理及控制装置（500）；其中，云台（200）在计算处理及控制装置（500）的控制下相对于机器人壳体（100）的安装位置左右转动以及俯仰旋转，移动驱动结构（400）在计算处理及控制装置（500）的控制下带动整个自动清扫机器人装置在地面上行进；其中，云台（200）外壳具有第一开口（21）和第二开口（22）；而且，云台（200）内固定安装有深度信息感知传感器（600）；并且，深度信息感知传感器（600）通过第一开口（21）和/或第二开口（22）感测环境信息。

Description

自动清扫机器人装置 技术领域
本发明涉及移动机器人领域，具体涉及一种自动清扫机器人装置。
背景技术
清扫机器人是当今服务机器人领域一个热门的研究方向。吸尘机器人将移动机器人技术和吸尘器技术有机地融合起来，实现室内环境(地面)的半自动或全自动清洁，替代传统繁重的人工清洁工作，近年来已受到国内外的研究人员重视。
作为智能移动机器人的一个特殊应用，从技术方面讲，智能化自主式吸尘器比较具体地体现了移动机器人的多项关键技术，具有较强的代表性。从市场前景角度讲，自主吸尘器将大大降低劳动强度、提高劳动效率，适用于家庭和公共场馆等各类场地。
但是，现有技术的清扫机器人在执行清扫操作的过程中，对于复杂的路面状态，往往无法进行有效路径选择。甚至，有时候在遇到家具繁多的房屋空间的情况下，会出现清扫机器人被困在某片区域或者某个角落而无法自动解脱出来的情况。
因此，本领域的技术人员致力于开发一种在家具繁多的房屋空间内也能避开障碍并有效规划清扫路径的自动清扫机器人装置。
发明内容
有鉴于现有技术的上述缺陷，本发明所要解决的技术问题是提供一种在家具繁多的房屋空间内也能避开障碍并有效规划清扫路径的自动清扫机器人装置。
为实现上述目的，本发明提供了一种自动清扫机器人装置，包括：机器人壳体、安装在所述机器人壳体上的云台、布置在所述机器人壳体内部底部的清扫机构和移动驱动结构、以及安装在所述云台上或者所述机器人壳体内的计算处理及控制装置；其中，所述云台在计算处理及控制装置的控制下相对于所述机器人壳体的安装位置左右转动以及俯仰旋转，移动驱动结构在计算处理及控制装置的控制下带动整个自动清扫机器人装置在地面上行进；其中，所述云台外壳具有第一开口和第二开口；而且，所述云台内固定安装有深度信息感知传感器；并且，所述深度信息感知传感器通过所述第一开口和/或第二开口感测环境信息。
优选地，在自动清扫机器人装置启动时，所述计算处理及控制装置控制所述云台左右转动以及俯仰旋转的同时启动深度信息感知传感器来感测环境信息，并且接收感知传感器感测到的环境信息；而且，所述计算处理及控制装置结合所述云台左 右转动的角度、俯仰旋转的角度、以及实时接收到的环境信息来绘制周围环境三维地图，而且基于周围环境三维地图来规划清扫路径，并且按照清扫路径启动移动驱动结构并控制移动驱动结构的移动线路。
优选地，在每次自动清扫机器人装置执行完当前清扫路径之后，所述计算处理及控制装置使得移动驱动结构暂定，并且再次控制所述云台左右转动以及俯仰旋转的同时启动深度信息感知传感器来感测环境信息，并且接收感知传感器感测到的环境信息；而且，所述计算处理及控制装置结合所述云台左右转动的角度、俯仰旋转的角度、以及实时接收到的环境信息来绘制周围环境三维地图，而且基于周围环境三维地图来规划新清扫路径，并且按照新清扫路径启动移动驱动结构并控制移动驱动结构的移动线路。
优选地，所述计算处理及控制装置控制清扫机构来执行地面清扫操作。
优选地，所述深度信息感知传感器包括红外飞行时间传感器、激光飞行时间传感器、RGB-D摄像机和单目结构光摄像机。
优选地，所述机器人壳体是可打开结构。
根据本发明的自动清扫机器人装置通过云台实现水平旋转和俯仰旋转扫描，扩大感知范围；并且根据云台姿态反馈，绘出周围环境三维地图；通过云台系统感知周围环境，实现室内定位避障，规划清扫路径，优化清扫遍历率。
以下将结合附图对本发明的构思、具体结构及产生的技术效果作进一步说明，以充分地了解本发明的目的、特征和效果。
附图说明
图1是根据本发明优选实施例的自动清扫机器人装置的外形结构立体示意图。
图2是根据本发明优选实施例的自动清扫机器人装置的内部结构简化平面示意图。
图3是根据本发明优选实施例的自动清扫机器人装置的功能框图。
需要说明的是，附图用于说明本发明，而非限制本发明。注意，表示结构的附图可能并非按比例绘制。并且，附图中，相同或者类似的元件标有相同或者类似的标号。
具体实施方式
图1是根据本发明优选实施例的自动清扫机器人装置的外形结构立体示意图，图2是根据本发明优选实施例的自动清扫机器人装置的内部结构简化平面示意图，图3是根据本发明优选实施例的自动清扫机器人装置的功能框图。
如图1、图2和图3所示，根据本发明优选实施例的自动清扫机器人装置包括：机器人壳体100、安装在所述机器人壳体100上的云台200、布置在所述机器人壳 体100内部底部的清扫机构300和移动驱动结构400、以及安装在所述云台200上或者所述机器人壳体100内的计算处理及控制装置500。
其中，所述云台200能够在计算处理及控制装置500的控制下相对于所述机器人壳体100的安装位置左右转动以及俯仰旋转。
移动驱动结构400用于在计算处理及控制装置500的控制下带动整个自动清扫机器人装置在地面上行进。
其中，所述云台200外壳具有第一开口21和第二开口22；而且，所述云台200内固定安装有深度信息感知传感器600；并且，所述深度信息感知传感器通过所述第一开口21和/或第二开口22感测环境信息。
在自动清扫机器人装置启动时，所述计算处理及控制装置500控制所述云台200左右转动以及俯仰旋转的同时启动深度信息感知传感器600来感测环境信息，并且接收感知传感器600感测到的环境信息；而且，所述计算处理及控制装置500结合所述云台200左右转动的角度、俯仰旋转的角度、以及实时接收到的环境信息来绘制周围环境三维地图，而且基于周围环境三维地图来规划清扫路径，并且按照清扫路径启动移动驱动结构400并控制移动驱动结构400的移动线路。
优选地，在每次自动清扫机器人装置执行完当前清扫路径之后，所述计算处理及控制装置500使得移动驱动结构400暂定，并且再次控制所述云台200左右转动以及俯仰旋转的同时启动深度信息感知传感器600来感测环境信息，并且接收感知传感器600感测到的环境信息；而且，所述计算处理及控制装置500结合所述云台200左右转动的角度、俯仰旋转的角度、以及实时接收到的环境信息来绘制周围环境三维地图，而且基于周围环境三维地图来规划新清扫路径，并且按照新清扫路径启动移动驱动结构400并控制移动驱动结构400的移动线路。
此外，所述计算处理及控制装置500控制清扫机构300来执行地面清扫操作。
例如，所述深度信息感知传感器包括红外/激光飞行时间(Time of Flight,TOF)传感器、RGB-D摄像机、单目结构光摄像机等。
优选地，所述机器人壳体100是可打开结构，从而可以有利于对清扫机构进行清洗或者更换。
总之，根据本发明优选实施例的自动清扫机器人装置通过云台实现水平旋转和俯仰旋转扫描，扩大感知范围；并且根据云台姿态反馈，绘出周围环境三维地图。通过云台系统感知周围环境，实现室内定位避障，规划清扫路径，优化清扫遍历率。
上述说明示出并描述了本发明的优选实施例，如前所述，应当理解本发明并非局限于本文所披露的形式，不应看作是对其他实施例的排除，而可用于各种其他组合、修改和环境，并能够在本文所述发明构想范围内，通过上述教导或相关领域的技术或知识进行改动。而本领域人员所进行的改动和变化不脱离本发明的精神和范围，则都应在本发明所附权利要求的保护范围内。

Claims (6)

  1. 一种自动清扫机器人装置，其特征在于包括：机器人壳体、安装在所述机器人壳体上的云台、布置在所述机器人壳体内部底部的清扫机构和移动驱动结构、以及安装在所述云台上或者所述机器人壳体内的计算处理及控制装置；其中，所述云台在计算处理及控制装置的控制下相对于所述机器人壳体的安装位置左右转动以及俯仰旋转，移动驱动结构在计算处理及控制装置的控制下带动整个自动清扫机器人装置在地面上行进；其中，所述云台外壳具有第一开口和第二开口；而且，所述云台内固定安装有深度信息感知传感器；并且，所述深度信息感知传感器通过所述第一开口和/或第二开口感测环境信息。
  2. 如权利要求1所述的自动清扫机器人装置，其特征在于，在自动清扫机器人装置启动时，所述计算处理及控制装置控制所述云台左右转动以及俯仰旋转的同时启动深度信息感知传感器来感测环境信息，并且接收感知传感器感测到的环境信息；而且，所述计算处理及控制装置结合所述云台左右转动的角度、俯仰旋转的角度、以及实时接收到的环境信息来绘制周围环境三维地图，而且基于周围环境三维地图来规划清扫路径，并且按照清扫路径启动移动驱动结构并控制移动驱动结构的移动线路。
  3. 如权利要求2所述的自动清扫机器人装置，其特征在于，在每次自动清扫机器人装置执行完当前清扫路径之后，所述计算处理及控制装置使得移动驱动结构暂定，并且再次控制所述云台左右转动以及俯仰旋转的同时启动深度信息感知传感器来感测环境信息，并且接收感知传感器感测到的环境信息；而且，所述计算处理及控制装置结合所述云台左右转动的角度、俯仰旋转的角度、以及实时接收到的环境信息来绘制周围环境三维地图，而且基于周围环境三维地图来规划新清扫路径，并且按照新清扫路径启动移动驱动结构并控制移动驱动结构的移动线路。
  4. 如权利要求1至3之一所述的自动清扫机器人装置，其特征在于，所述计算处理及控制装置控制清扫机构来执行地面清扫操作。
  5. 如权利要求1至3之一所述的自动清扫机器人装置，其特征在于，所述深度信息感知传感器包括红外飞行时间传感器、激光飞行时间传感器、RGB-D摄像机和单目结构光摄像机。
  6. 如权利要求1至3之一所述的自动清扫机器人装置，其特征在于，所述机器人壳体是可打开结构。
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