WO2019104738A1 - Dispositif de restriction, robot de balayage visuel et procédé de commande correspondant - Google Patents

Dispositif de restriction, robot de balayage visuel et procédé de commande correspondant Download PDF

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Publication number
WO2019104738A1
WO2019104738A1 PCT/CN2017/114337 CN2017114337W WO2019104738A1 WO 2019104738 A1 WO2019104738 A1 WO 2019104738A1 CN 2017114337 W CN2017114337 W CN 2017114337W WO 2019104738 A1 WO2019104738 A1 WO 2019104738A1
Authority
WO
WIPO (PCT)
Prior art keywords
optical signal
control device
instruction
visual
control
Prior art date
Application number
PCT/CN2017/114337
Other languages
English (en)
Chinese (zh)
Inventor
王声平
周毕兴
Original Assignee
深圳市沃特沃德股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市沃特沃德股份有限公司 filed Critical 深圳市沃特沃德股份有限公司
Priority to PCT/CN2017/114337 priority Critical patent/WO2019104738A1/fr
Publication of WO2019104738A1 publication Critical patent/WO2019104738A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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

Definitions

  • the present invention relates to the field of visual sweeping robots, and more particularly to a control device and a visual sweeping robot and a control method thereof.
  • Existing cleaning robots are used for autonomous mobile devices that travel autonomously in an indoor space while requiring no user control to perform the operations.
  • the cleaning robot usually moves autonomously in an indoor space such as a home or an office, and sucks dirt on the floor into the dust box therein while moving, thereby performing a cleaning operation.
  • an indoor space such as a home or an office
  • the cleaning robot is set to operate in a fixed walking path for the operation and control mode that does not meet the actual needs.
  • control device also called virtual
  • the wall is disposed at an entrance where the robot does not want to enter the area, and the control device transmits a signal to the outside, and the robot is provided with a component that can receive the signal, so that after receiving the signal, the robot can perform a backward or other walking manner to avoid Collide or fall off a cliff.
  • the existing control device has a single function and can only emit a single signal.
  • a primary object of the present invention is to provide a control device that can issue different signals according to different needs of users.
  • the present invention provides a control device including a body and a processor carried on the body and light;
  • the body is used to be disposed in a cleaning environment of a visual cleaning robot
  • the processor controls The light emits an optical signal recognizable by the visual cleaning robot in a preset manner, ⁇ 0 2019/104738 ⁇ (:17 ⁇ 2017/114337
  • the light emitting light signal is emitted in a preset manner, so that the visual cleaning robot recognizes the preset regular light signal and parses out the corresponding instruction to perform a corresponding action or display the command.
  • the lamp emits an optical signal at a preset frequency, so that the visual cleaning robot recognizes the optical signal of the frequency and parses out the corresponding command for corresponding action or display.
  • control device further includes a communication device, the communication device is configured to receive an input signal from the outside, and the processor controls the The light emits the light of the specified signal.
  • the surface of the body is provided with an identifiable identifier for recognition by a visual cleaning robot.
  • the body is a hexahedron, and the hexahedron comprises a top surface, a bottom surface and four side surfaces, and the identifiable identifiers are disposed on the four sides.
  • the identifiable identifier is a two-dimensional code.
  • the communication device is a wireless module.
  • the wireless module includes a Bluetooth module and/or a ⁇ 1 module.
  • the A lamp is located inside the body, and the body is made of a light transmissive material.
  • the present invention also provides a control method for a visual cleaning robot, comprising the steps of:
  • the visual sweeping robot cleans up when the camera captures the optical signal emitted by the preset control device
  • the step of analyzing the optical signal and generating the control instruction includes:
  • the step of analyzing the optical signal and generating the control instruction includes:
  • the step of the camera collecting the optical signal emitted by the preset control device during the cleaning of the visual cleaning robot includes:
  • the step of generating an instruction to collect an optical signal includes:
  • the step of the camera of the visual cleaning robot acquiring the optical signal emitted by the control device includes:
  • the identifiable identifier is a two-dimensional code.
  • the present invention also provides a visual cleaning robot, comprising:
  • collecting an optical signal module configured to: when the visual sweeping robot is cleaning, the camera collects an optical signal emitted by the preset control device;
  • an analysis module configured to parse the optical signal, and generate a control instruction
  • an execution module configured to execute an action corresponding to the control instruction.
  • the parsing module includes:
  • a searching unit configured to search for a control instruction corresponding to the optical signal in the preset instruction list.
  • the parsing module includes:
  • the parsing module includes:
  • a regular unit configured to acquire a law corresponding to the optical signal, and generate a control instruction according to the preset logic according to the preset logic.
  • the collecting optical signal module includes:
  • a determining unit configured to determine whether the collected environment image includes a restriction device provided with an identifiable identifier
  • the generating the instruction unit includes:
  • a determining subunit configured to determine whether an optical signal corresponding to the control device has been collected
  • a determining subunit configured to generate an instruction to acquire an optical signal of the control device.
  • the collecting optical signal module includes: ⁇ 0 2019/104738 ⁇ (:17 ⁇ 2017/114337
  • a time unit configured to control the camera to face the control device, to stay for a preset time, and collect an optical signal emitted by the control device within the preset time.
  • the identifiable identifier is a two-dimensional code.
  • the beneficial effects of the present invention are: for a common control device in a visual sweeping robot, the light is controlled to generate different light signals, and different light signals are generated.
  • the visual cleaning robot acquires the optical signal during the cleaning and executes a corresponding cleaning command to make the function of the control device more comprehensive.
  • An identifiable identification is added to the control device to facilitate the visual sweeping robot to find the control device in the cleaning environment.
  • FIG. 1 is a schematic structural view of a control device according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram showing the steps of a control method of a visual cleaning robot according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram showing the steps of a control method of a visual cleaning robot according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram showing the steps of a control method of a visual cleaning robot according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram showing the steps of a control method of a visual cleaning robot according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural view of a visual sweeping robot according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural view of a visual cleaning robot according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural view of a visual sweeping robot according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural view of a visual cleaning robot according to an embodiment of the present invention.
  • a control device including a body 1 and a processing carried on a body.
  • ⁇ 0 2019/104738 ⁇ (:17 ⁇ 2017/114337
  • the body 1 is configured to be disposed in a cleaning environment of a visual cleaning robot;
  • the visual cleaning robot is caused to analyze the optical signal generation control command.
  • the body 1 can be placed in the cleaning environment of the visual cleaning robot and can be photographed by the camera of the visual cleaning robot, which can be placed on the floor or bonded to the wall or the ceiling. It can be within the scope of the camera.
  • Can refer to the ontology Can also be a processor disposed inside the body It can mean that the 1 ⁇ 0 lamp 3 emits light of a preset frequency; or for a fixed period of time,
  • the processor 2 is an integrated circuit having a function of receiving a signal, processing a signal according to a preset logic, and outputting a signal. Through processor 2
  • the light of the specified signal is generated, so that the optical signal can be generated, and the optical signal is correspondingly set to a command, and after the visual sweeping robot captures the light of the specified signal, the command is parsed, in a specific embodiment.
  • the generated code is 1101000100, and then the code is parsed to obtain the content corresponding to the code.
  • the control command can be displayed on the display screen of the cleaning robot.
  • the parsing method may be: placing a list corresponding to the set optical signal and the control command in the sweeping robot in advance by the user, and then the sweeping robot acquires the optical signal and searches for a corresponding control command in the preset list; the parsing method may also be : The logic rule corresponding to the control signal set by the user preset is placed in the sweeping robot, and then the sweeping robot acquires the optical signal and then calculates the corresponding control command through the logic rule. ⁇ 0 2019/104738 ⁇ (:17 ⁇ 2017/114337
  • the body 1 is made of a light-transmissive material, and is disposed at a position such that the light emitted from the body 1 is diffused outside the body 1 so that the visual sweeping robot outside the body 1 can be captured.
  • the optical signal and the corresponding command are sent to the visual cleaning robot, and then the control device is placed on the floor of the kitchen; the visual cleaning robot is cleaned according to the normal trajectory, and after cleaning to the kitchen, the camera captures the After the light signal of the lamp 3, the light signal is analyzed, and the command corresponding to the light signal is determined to clean the kitchen twice, and then the visual sweeping robot recognizes the range of the kitchen, generates a cleaning track according to a preset logic, and cleans the kitchen. After exiting the kitchen, continue to clean other places.
  • control device further includes a communication device 4; the communication device 4 is configured to receive an input signal from the outside, and the processor 2
  • the communication device 4 is configured to receive an input signal from the outside, and may be a wireless device such as a wireless device such as Bluetooth or 40, or may be a wired transmission. Interface, etc. User can customize when using this control device It is then sent to the control device via the communication device 4.
  • the communication device 4 is Module. Specifically, when the manufacturer produced the visual sweeping robot and the corresponding control device, he developed an eight??
  • the user can connect the visual sweeping robot and the control device through the network, and the user sets a plurality of light signals and a command corresponding to the light signals one by one in advance, and the plurality of light signals and the plurality of commands are combined into one list, and the user The list is simultaneously sent to the visual sweeping robot and the control device. Then, when the user needs the command, click the command on the eight?, after the control device receives the command, find the optical signal corresponding to the command on the list.
  • Corresponding light is emitted; after the visual sweeping robot captures the optical signal, the cleaning command corresponding to the optical signal on the list is found, and then the cleaning is performed according to the command.
  • the surface of the body 1 is provided with an identifiable identifier 5 for recognition by a visual cleaning robot. ⁇ 0 2019/104738 ⁇ (:17 ⁇ 2017/114337
  • an identifiable identifier 5 is disposed on the body 1 for the visual sweeping robot to perform first. Image recognition, first find the control device through the identifiable identification 5, then determine the capture The light from the lamp 3 saves the power of the visual sweeping robot.
  • the body 1 is a hexahedron, and the hexahedron includes a top surface, a bottom surface and four side surfaces, and the identifiable marks 5 are disposed on the four sides.
  • the body 1 is arranged as a hexahedron, and the aspect is placed on the floor, which is convenient for the camera of the visual sweeper.
  • Four of the sides are provided with an identifiable sign 5 that allows the visual sweeping robot to recognize the restraint from all angles.
  • the identifiable identifier 5 is a two-dimensional code.
  • the two-dimensional code refers to a picture of data symbol information recorded in a black and white pattern in a plane (two-dimensional direction) by a certain geometric pattern, and the recognition degree is high, the camera After collecting the picture, it is easy to distinguish. Even if the user accidentally knocks down the QR code, the camera can be captured and recognized.
  • the body 1 is made of a light transmissive material.
  • the signal can be diffused through the body 1 to the outside of the body and captured by the camera of the visual sweeping robot.
  • the light transmissive material may be a lightweight plastic.
  • the present invention further provides a control method for a visual cleaning robot, including the steps of:
  • the visual sweeping robot cleans the camera to collect the optical signal emitted by the preset control device
  • the step of analyzing the optical signal and generating the control instruction includes:
  • the user before cleaning, the user first parses the optical signal into a corresponding instruction list or solution of the control instruction. ⁇ 0 2019/104738 ⁇ (:17 ⁇ 2017/114337
  • the analysis method is set in the visual cleaning robot, and the optical signal and the corresponding control instruction are a list of instructions, wherein the instruction list may be an optical signal corresponding to a control instruction, for example, the continuous blinking frequency is 1 ⁇ ] ⁇ 3 ⁇ 4
  • the light is an optical signal.
  • the control command corresponding to the optical signal is the first cleaning command.
  • 201 ⁇ 13 ⁇ 4 light and 301 ⁇ 13 ⁇ 4 light are respectively emitted at intervals of 1 millisecond, which is also an optical signal, and the optical signal corresponds to
  • the instruction is the second cleaning command.
  • the corresponding control command is searched according to the preset instruction list, or The preset analysis method parses the corresponding control command, and then the visual sweeping robot executes the action corresponding to the control command.
  • the signal sent by the lamp 3, the generated code is 1101000100, and then the code is parsed to obtain the content corresponding to the code, and the content corresponding to the code is the control instruction.
  • the control command is executed or displayed on the display screen of the visual sweeping robot.
  • the step of the camera collecting the optical signal emitted by the preset control device during the cleaning of the visual cleaning robot includes:
  • the user sets the identifiable identification 5 on the control device in advance and then places it in the cleaning environment.
  • the camera simultaneously captures the image of the surrounding environment, and then determines whether the image contains the identifiable identifier 5. If the identifiable identifier 5 preset by the user is found in the image, the identifiable identifier 5 is determined as the restriction device.
  • An instruction to acquire an optical signal of the control device is generated, and the visual sweeping robot moves the optical signal of the acquisition control device.
  • the step of generating an instruction to collect an optical signal includes:
  • the step of the camera of the visual cleaning robot acquiring the optical signal emitted by the control device includes:
  • the camera is facing the control device and stays for a preset time, and collects an optical signal emitted by the control device within the preset time.
  • some optical signals require a certain time, so the visual sweeping robot needs to continuously collect the optical signals for a period of time before capturing the complete optical signals and parsing the cleaning commands corresponding to the optical signals.
  • the camera is facing the control device and stays for a preset time. During the stay, the camera continuously collects the optical signal of the control device.
  • the identifiable identifier 5 is a two-dimensional code.
  • the two-dimensional code refers to a picture of data symbol information recorded in a black and white pattern in a plane (two-dimensional direction) by a certain geometric pattern, and the recognition degree is high, the camera After collecting the picture, it is easy to distinguish. Even if the user accidentally knocks down the QR code, the visual sweeping robot can be recognized and collected.
  • the present invention further provides a visual cleaning robot according to an embodiment, including:
  • the optical signal module 100 is configured to collect, by the camera, the optical signal emitted by the preset control device when the visual cleaning robot is cleaned;
  • the parsing module 200 is configured to parse the optical signal to generate a control instruction
  • the execution module 300 is configured to execute an action corresponding to the control instruction.
  • the parsing module 200 includes:
  • the searching unit 210 is configured to search for a control instruction corresponding to the optical signal in the preset instruction list. And/or the calculating unit 220 is configured to acquire a law corresponding to the optical signal, and generate a control instruction according to the preset logic according to the preset logic. ⁇ 0 2019/104738 ⁇ (:17 ⁇ 2017/114337
  • the corresponding instruction list or the analysis method for the user to first analyze the optical signal into the control command is set in the visual cleaning robot, and the optical signal and the corresponding control command are the instruction list, where
  • the command list may be an optical signal corresponding to a control command, for example, the light that continuously emits a blinking frequency of 1 ⁇ ] ⁇ 3 ⁇ 4 is an optical signal, and the instruction corresponding to the optical signal is the first cleaning command, for example, an interval of 1 millisecond.
  • Each of the 201 ⁇ 13 ⁇ 4 light and the 301 ⁇ 13 ⁇ 4 light is emitted, which is also an optical signal, and the corresponding command of the optical signal is the second cleaning command.
  • the cleaning trajectory is generated according to a preset logic algorithm.
  • the parsing module 200 calls the searching unit 210 according to the preset.
  • the instruction list searches for the corresponding control command, or the call calculation unit 220 parses the corresponding control command according to the preset analysis method, and then executes the module 3
  • the law emits light, and within 10 seconds, every 1st, 2nd, 4th, and 8th second is bright, 3rd, 5th, 6th, 7th, 9th,
  • Visual sweeping robot definition 0 is generated when it is off, a number is generated every 1 second, and the number is collected.
  • the generated code is 11010001 00, and then the computing unit 220 parses the code to obtain the content corresponding to the code, and the content corresponding to the code is a control instruction. After the visual sweeping robot acquires the control command, the control command is executed or displayed on the display screen of the visual sweeping robot.
  • the collecting optical signal module 100 includes:
  • the image capturing unit 110 is configured to collect an environment image when the robot moves;
  • the determining unit 120 is configured to determine whether the collected environment image includes a device for providing the identifiable identifier 5;
  • the generating instruction unit 130 is configured to generate an instruction to acquire an optical signal of the control device.
  • the user sets the identifiable identification 5 on the control device in advance and then places it in the cleaning environment.
  • the image capturing unit 110 controls the camera to simultaneously capture an image of the surrounding environment, and then the determining unit 120 determines whether the image contains the identifiable identifier 5, and if the image is found to have the identifiable identifier 5 preset by the user, the determination is performed.
  • the identifiable identification 5 is the control device, and the generation command unit 190 generates an instruction to collect the optical signal of the control device, and the visual cleaning robot moves the optical signal of the acquisition control device.
  • the generating instruction unit 130 further includes: ⁇ 0 2019/104738 ⁇ (:17 ⁇ 2017/114337
  • a determining subunit 131 configured to determine whether an optical signal corresponding to the control device has been collected
  • the determining subunit 132 is configured to generate an instruction to acquire an optical signal of the control device.
  • the determining subunit 131 identifies whether the optical signal of the control device has been collected before, if the optical signal of the control device has been collected before, If the cleaning command of the control device has been acquired, it is not necessary to collect the optical signal of the control device; if the determining sub-unit 132 determines that the optical signal of the control device is not collected, an instruction to collect the optical signal of the control device is generated. .
  • the collecting optical signal module 100 includes:
  • the time unit 140 is configured to control the camera to face the control device to stay for a preset time, and collect an optical signal emitted by the control device within the preset time.
  • the visual sweeping robot needs to continuously collect the optical signals for a period of time before capturing the complete optical signals and parsing the cleaning commands corresponding to the optical signals.
  • the time unit 140 faces the control device for a preset time, and during the stay, the camera continuously collects the optical signal of the control device.
  • the identifiable identifier 5 is a two-dimensional code.
  • the two-dimensional code refers to a picture of data symbol information recorded in a black and white pattern in a plane (two-dimensional direction) by a certain geometric pattern, and the recognition degree is high, the camera After collecting the picture, it is easy to distinguish. Even if the user accidentally knocks down the QR code, the visual sweeping robot can be recognized and collected.
  • the present invention adds a common control device in a visual sweeping robot.
  • Light 3 control
  • the xenon lamp 3 emits light of different frequencies to generate different optical signals, so that the visual cleaning robot obtains the corresponding cleaning command after acquiring the optical signal during cleaning, so that the function of the control device is more comprehensive.
  • An identifiable identification 5 is added to the restriction device to facilitate the visual sweeping robot to find the control device in the cleaning environment.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention se rapporte au domaine des robots de balayage visuel, et porte sur un dispositif de restriction, un robot de balayage visuel et un procédé de commande correspondant. Le dispositif de restriction comprend un corps, une lampe à diode électroluminescente (DEL) et un processeur. Le processeur commande la lampe à DEL de manière à ce qu'elle émette de la lumière d'un signal spécifique, la lumière s'étendant vers l'extérieur du corps de sorte que le robot de balayage visuel génère une commande de nettoyage correspondante sur la base du signal lumineux après que ce dernier a été capturé pendant le nettoyage. Selon la présente invention, les fonctions du dispositif de restriction sont plus complètes, et des commandes de nettoyage peuvent être configurées avec souplesse selon les besoins d'un utilisateur.
PCT/CN2017/114337 2017-12-01 2017-12-01 Dispositif de restriction, robot de balayage visuel et procédé de commande correspondant WO2019104738A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/114337 WO2019104738A1 (fr) 2017-12-01 2017-12-01 Dispositif de restriction, robot de balayage visuel et procédé de commande correspondant

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/114337 WO2019104738A1 (fr) 2017-12-01 2017-12-01 Dispositif de restriction, robot de balayage visuel et procédé de commande correspondant

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Citations (8)

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Publication number Priority date Publication date Assignee Title
CN1434359A (zh) * 2002-01-24 2003-08-06 伊罗巴特公司 用于机器人的定位和制约的方法及系统
US20100292839A1 (en) * 2009-05-15 2010-11-18 Samsung Electronics Co., Ltd. Mobile robot system and method of controlling the same
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CN205507335U (zh) * 2016-04-11 2016-08-24 上海臣进数码科技有限公司 收缩式调节使用的手机拍摄框架
CN107803837A (zh) * 2017-12-01 2018-03-16 深圳市沃特沃德股份有限公司 制约装置和视觉扫地机器人及其控制方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1434359A (zh) * 2002-01-24 2003-08-06 伊罗巴特公司 用于机器人的定位和制约的方法及系统
US20100292839A1 (en) * 2009-05-15 2010-11-18 Samsung Electronics Co., Ltd. Mobile robot system and method of controlling the same
CN102048499A (zh) * 2009-10-26 2011-05-11 三星电子株式会社 移动机器人系统以及控制移动机器人系统的方法
CN102156473A (zh) * 2010-12-16 2011-08-17 深圳市银星智能电器有限公司 移动机器人用制约系统
CN102298388A (zh) * 2011-08-22 2011-12-28 深圳市银星智能电器有限公司 一种用于移动机器人的制约系统
CN105116903A (zh) * 2015-09-14 2015-12-02 苏州爱普电器有限公司 自移动机器人制约系统
CN205507335U (zh) * 2016-04-11 2016-08-24 上海臣进数码科技有限公司 收缩式调节使用的手机拍摄框架
CN107803837A (zh) * 2017-12-01 2018-03-16 深圳市沃特沃德股份有限公司 制约装置和视觉扫地机器人及其控制方法

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