WO2019109225A1 - Procédé de division d'un espace intérieur et aspirateur robot - Google Patents

Procédé de division d'un espace intérieur et aspirateur robot Download PDF

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Publication number
WO2019109225A1
WO2019109225A1 PCT/CN2017/114501 CN2017114501W WO2019109225A1 WO 2019109225 A1 WO2019109225 A1 WO 2019109225A1 CN 2017114501 W CN2017114501 W CN 2017114501W WO 2019109225 A1 WO2019109225 A1 WO 2019109225A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
virtual
graphic label
marker
plane
Prior art date
Application number
PCT/CN2017/114501
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English (en)
Chinese (zh)
Inventor
王声平
张立新
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/CN2017/114501 priority Critical patent/WO2019109225A1/fr
Publication of WO2019109225A1 publication Critical patent/WO2019109225A1/fr

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Classifications

    • 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

Definitions

  • the invention relates to the field of area recognition, in particular to an indoor area dividing method and a cleaning robot.
  • the sweeping robot also known as the robot vacuum cleaner, uses the fan mounted on the fuselage to suck the ground garbage into the dust box and move it autonomously through the walking wheel to achieve the purpose of automatically cleaning the room.
  • the sweeping robot needs to divide the indoor environment.
  • the first one is to divide the environment into several parts according to the fixed size according to the position information of the robot.
  • This method cannot adapt to the different characteristics of different environments, and it is easy to have an unreasonable division of regions.
  • the second is to provide guidance and restrictions through external devices, such as IRobot's virtual beacon technology.
  • the cost of the virtual lighthouse is relatively high. If the user needs to divide the room into multiple areas, the virtual lighthouse needs to be purchased, which greatly increases the use cost. In addition, the virtual lighthouse is too large, for example, it will affect the normal use of the door. The user needs to set the display when it is used, and it needs to be put away when it is used up. The operation is cumbersome.
  • the main object of the present invention is to provide a lower cost indoor area dividing method and a cleaning robot.
  • the invention proposes
  • An indoor area dividing method includes the following steps:
  • the sweeping robot detects the marker placed on the door frame of the indoor room
  • the spatial coordinate position of the marker is determined, and the position of the virtual boundary between the cleaning regions separated by the door is determined according to the spatial coordinate position.
  • the sweeping robot detects the marker disposed on the door frame of the indoor room, and the sweeping robot uses the visual sensor to detect the marker disposed in the detection range of the visual sensor on the door frame of the indoor room.
  • the marker is a graphic sticker.
  • the graphic label is provided with a plurality of, and the left and right ends of the door frame are respectively labeled with a graphic label;
  • Determining, according to the spatial coordinate position, the position of the virtual boundary between the cleaning regions separated by the door includes: calculating a virtual space between the two cleaning regions separated by the door according to the spatial position of the graphic label respectively set at the two ends The location of the boundary.
  • determining a spatial coordinate position of the marker, and determining, according to the spatial coordinate position, a position of a virtual boundary between the two cleaning regions separated by the door includes:
  • the position of the virtual boundary between the two cleaning areas in the environment map is determined according to the spatial coordinate position of the graphic label in the environment map.
  • the step of determining the position of the virtual boundary between the two cleaning regions in the environment map includes:
  • a virtual plane is obtained by extending a predetermined width of the plane of the graphic label to the horizontal direction at a width greater than or equal to the width of the door;
  • the marker is disposed on the inner and outer sides of the door frame of the indoor room.
  • the method includes:
  • the sweeping robot When the cleaning area has not been cleaned, the sweeping robot encounters the virtual boundary to take the avoidance measure; when the cleaning area has finished cleaning, the sweeping robot crosses the virtual boundary and enters the adjacent cleaning area.
  • the avoidance measure is to retreat and turn to ensure that the sweeping robot does not cross the cleaning area.
  • the invention also provides a sweeping robot, the sweeping robot comprising a detecting module and a judging module;
  • the detecting module is configured to detect a marker disposed on the door frame of the indoor room by the cleaning robot; the determining module is configured to determine a spatial coordinate position of the marker, and determine a position of the virtual boundary between the cleaning regions separated by the door according to the spatial coordinate position.
  • the detecting module includes a detecting submodule; the detecting submodule is configured to detect, by using a visual sensor, the marker disposed in the detection range of the visual sensor on the door frame of the indoor room.
  • the marker is a graphic label, and the graphic label is provided with a plurality of, and the left and right ends of the door frame are respectively labeled with a graphic label;
  • the judging module includes a judging submodule; and the judging submodule is configured to calculate a position of a virtual boundary between the two cleaning regions separated by the door according to the spatial position of the graphic label respectively set at both ends.
  • the marker is a graphic sticker
  • the judging module comprises a collecting sub-module and a positioning sub-module; the collecting sub-module is configured to determine the position of the image of the graphic label in the scene image according to the pixel position in the image image captured by the visual sensor according to the image of the graphic label, and then convert the image into a graphic The spatial coordinate position of the label in the environment map; the positioning sub-module is used to determine the position of the virtual boundary between the two cleaning areas in the environment map according to the spatial coordinate position of the graphic label in the environment map.
  • the positioning sub-module includes an orientation unit, an extension unit, a truncation unit, a deletion unit, a culling unit, and a selection unit;
  • the orientation unit is configured to determine an orientation thereof according to a spatial coordinate position of the graphic label in the environment map;
  • the extension unit is configured to The graphic label is extended along the plane of the graphic label to the horizontal direction and is extended by a preset width greater than or equal to the width of the door to obtain a virtual plane; the truncating unit is used to extend the virtual plane from the midpoint of the graphic label to the two sides.
  • the deleting unit is used to locate the obstacle plane in the virtual plane if the determined obstacle plane exists within the distance set in the opposite direction of the graphic label Deleting;
  • the culling unit is configured to detect the remaining virtual planes, and cull the plane whose width is smaller than the second preset width;
  • the selecting unit is configured to select the virtual plane closest to the center of the graphic label as if there are still multiple compliant virtual planes A virtual boundary between the two sweeping areas.
  • the marker is disposed on the inner and outer sides of the door frame of the indoor room.
  • the cleaning robot further includes an over-border determination module, and the over-border determination module is configured to determine that the cleaning robot encounters the virtual boundary to take the avoidance measure when the cleaning area is not completed; and the cleaning robot crosses the virtual boundary when the cleaning area has been cleaned Enter the adjacent cleaning area.
  • the avoidance measure is to retreat and turn to ensure that the sweeping robot does not cross the virtual boundary.
  • the indoor area dividing method and the cleaning robot of the invention adopts the graphic label to judge the boundary, the area division is reasonable, and the volume is smaller, and the setting can be set for a long time, avoiding frequent moving of the boundary, reducing human participation, and the operation is more convenient and contrasting.
  • the use of virtual lighthouses can reduce costs.
  • FIG. 1 is a schematic diagram showing the steps of an embodiment of the indoor area dividing method of the present invention.
  • FIG. 2 is a schematic diagram showing the steps of another embodiment of the indoor area dividing method of the present invention.
  • FIG. 3 is a schematic diagram showing the steps of a third embodiment of the indoor area dividing method of the present invention.
  • step S2 is a schematic diagram showing the steps of an embodiment of step S2 in the indoor area dividing method of the present invention
  • Figure 5 is a schematic diagram showing the steps of an embodiment of step S23 in the indoor area dividing method of the present invention.
  • FIG. 6 is a schematic diagram showing the steps of a fourth embodiment of the indoor area dividing method of the present invention.
  • FIG. 7 is a schematic structural view of an embodiment of the cleaning robot of the present invention.
  • FIG. 8 is a schematic structural view of an embodiment of a detecting module in the cleaning robot of the present invention.
  • FIG. 9 is a schematic structural view of an embodiment of a judging module in the cleaning robot of the present invention.
  • FIG. 10 is a schematic structural view of another embodiment of a judging module in the cleaning robot of the present invention.
  • FIG. 11 is a schematic structural view of another embodiment of a judging sub-module in the cleaning robot of the present invention.
  • Figure 12 is a schematic view showing the structure of another embodiment of the cleaning robot of the present invention.
  • an indoor area dividing method includes the following steps:
  • the sweeping robot detects the marker placed on the door frame of the indoor room.
  • S2 Determine a spatial coordinate position of the marker, and determine a position of a virtual boundary between the cleaning regions separated by the door according to the spatial coordinate position.
  • the marker is set at the position of the door frame; the marker is flat, can be set for a long time without affecting the opening and closing of the door, does not need to be removed after use, reduces human intervention, is more convenient to use, and has a more user experience. it is good.
  • the entire cleaning space can be divided into the respective cleaning areas by dividing the cleaning area by the virtual boundary; in particular, in a house with multiple rooms, each room can be divided independently to prevent the cleaning robot from going back and forth unplannedly.
  • the user's experience is better; usually, a virtual boundary is set at the door, and a cleaning area is divided at the door.
  • the sweeping robot determines whether it is possible to cross the virtual boundary according to a preset condition.
  • step S1 includes:
  • the sweeping robot uses a visual sensor to detect the marker placed in the detection range of the visual sensor on the door frame of the indoor room.
  • the visual sensor is used to find the marker during the working process of the cleaning robot, and the marker setting position is within the range that the visual sensor can detect, for example, the marker is set on the door frame of the room, and the scope of the visual sensor can not be explored. Outside.
  • the marker is a graphic sticker.
  • the graphic label is a thin-shaped object that can be attached to the plane without affecting the normal opening and closing of the door. Therefore, it does not need to be removed after one use, and can be placed for a long time, so that the setting can be used multiple times, reducing the user's The workload, the user experience is better, and the cost of the graphic label is lower, which can also reduce the cost of the user.
  • the graphic in the graphic label can be a two-dimensional code.
  • the visual sensor can be a monocular, binocular or depth camera.
  • a plurality of graphic labels are provided, and graphic labels are respectively attached to the left and right ends of the door frame;
  • Step S2 includes:
  • step S21 the position of the virtual boundary is directly calculated by the spatial position of the two graphic labels, and the accuracy of the judgment is higher.
  • step S2 includes:
  • the environment map is a map obtained by the sweeping robot to initialize the space coordinate system when starting work, and then performing indoor positioning and mapping according to the data acquired by the visual sensor, including the room boundary, the position and size of the object, and the space.
  • Information such as the coordinate system; the position of the space coordinates of the graphic label in the environment map can generally determine the position of the virtual boundary.
  • step S23 the specific position of the virtual boundary is determined according to the setting by the position of the graphic label, and the virtual boundary separates the adjacent two cleaning areas.
  • the marker is placed on the inner and outer sides of the door frame of the indoor room. Because it is through the visual sensor, the indoor area division in this scheme cannot be realized without the marker. Therefore, at the door, there should be at least one for each cleaning area. A marker.
  • step S23 includes:
  • the cleaning robot probes the graphic label through the visual sensor, so the cleaning robot is opposite to the graphic label, and the relative position of the cleaning area and the graphic label where the cleaning robot is located can be determined by the orientation of the graphic label, according to the graphic label.
  • the orientation of the sticker determines the direction of the cleaning area and the adjacent cleaning area where the cleaning robot is located, and the direction of the virtual boundary, and the virtual boundary is located in the horizontal extension direction of the side of the graphic label.
  • the preset width is greater than or equal to the width of the door, so the door position must be in the virtual plane; in some embodiments, the preset width is 1.5m-3.2m.
  • the determined obstacle plane is a plane that the sweeping robot cannot pass.
  • step S234 in order to determine the direction of the wall on the side of the door in the direction away from the door, the wall is located in the opposite direction of the graphic label, and an obstacle plane such as a wall is determined within the distance determined in the opposite direction of the graphic label. It can be determined that the door is not in the position of the obstacle plane, and the virtual boundary is not in the position. The sweeping robot cannot enter the other room through the position, so the virtual plane corresponding to the position can be deleted.
  • the second preset width is less than or equal to the width of the door, and the surface where the door is obviously not likely to be present can be eliminated.
  • step S236 since the graphic label is attached to the door frame, the virtual plane closest to the center of the graphic label is most likely to have a door.
  • the second threshold is between 0.6 m and 1.5 m. It is preferably 0.6 m.
  • step S2 the method includes:
  • step S3 when the cleaning area is not finished cleaning, the cleaning robot encounters the virtual boundary to take the avoidance measure; when it is determined that the cleaning area has been cleaned, when the cleaning robot encounters the virtual boundary, no reaction measures are taken, and the magnetic strip is directly crossed. Enter the adjacent cleaning area.
  • the order of entering the adjacent unwashed space can adopt the principle of proximity, and the sweeping robot automatically enters the adjacent cleaning area from the nearest virtual boundary according to the coordinate positioning.
  • the avoidance measure is a back-off, turn-by-turn guarantee that the sweeping robot will not cross the virtual boundary.
  • the present invention further provides a cleaning robot, which includes a detecting module 1 and a determining module 2; the detecting module 1 is used for the sweeping robot to detect a marker disposed on the door frame of the indoor room; and the determining module 2 is configured to determine the The spatial coordinate position of the marker, and the position of the virtual boundary between the cleaning regions separated by the door is determined according to the spatial coordinate position.
  • the marker is placed at the position of the door frame; the marker is flat, which can be set for a long time without affecting the opening and closing of the door, and does not need to be removed after use, reducing human intervention, and being more convenient to use, user experience better.
  • the cleaning area can be divided into the cleaning areas by the virtual boundary dividing cleaning area, especially in a house with multiple rooms, each room can be separately divided to prevent the sweeping robot from being unplanned.
  • the user's experience is better; usually, a virtual boundary is set at the door, and the area is divided at the door; the sweeping robot judges whether it can pass through the virtual boundary according to preset conditions.
  • the detection module 1 includes a detection sub-module 11; the detection sub-module 11 is configured to detect a marker disposed within the detection range of the visual sensor on the door frame of the indoor room using a visual sensor.
  • the visual sensor is used to find the marker during the working process of the sweeping robot, and the marker setting position is within the range that the visual sensor can detect, for example, the marker is placed on the door frame of the room, and the visual sensor can no longer be used. Can be explored outside the scope.
  • the marker is a graphic sticker.
  • the graphic label is a thin-shaped object that can be attached to the plane without affecting the normal opening and closing of the door. Therefore, it does not need to be removed after one use, and can be placed for a long time, so that the setting can be used multiple times, reducing the user's The workload, the user experience is better, and the cost of the graphic label is lower, which can also reduce the cost of the user.
  • the graphic in the graphic label can be a two-dimensional code.
  • the visual sensor can be a monocular, binocular or depth camera.
  • the marker is a graphic label
  • the graphic label is provided with a plurality of, and the left and right ends of the door frame are respectively labeled with a graphic label
  • the determining module 2 includes a judging sub-module 21
  • the judging sub-module 21 is configured according to the two ends respectively.
  • the spatial position of the set graphic label calculates the position of the virtual boundary between the two cleaning areas separated by the door. In the process of judging the sub-module 21, the position of the virtual boundary is directly calculated by the spatial position of the two graphic stickers, and the accuracy of the judgment is higher.
  • the determining module 2 includes a collecting sub-module 22 and a positioning sub-module 23; the collecting sub-module 22 is configured to determine an image of the graphic label in the scene image according to the pixel position in the scene image captured by the visual sensor according to the image of the graphic label. The position in the space is further converted into a space coordinate position of the graphic label in the environment map; the positioning sub-module 23 is configured to determine the virtual boundary between the two cleaning areas in the environment map according to the spatial coordinate position of the graphic label in the environment map s position.
  • the environment map is a map obtained by the sweeping robot to initialize the space coordinate system when starting work, and then the indoor positioning and mapping according to the data acquired by the visual sensor, including the room boundary and the position of the placed object.
  • Information such as size and space coordinate system; the position of the space label in the environment map can generally determine the position of the virtual boundary.
  • the specific position of the virtual boundary is determined according to the position of the graphic label, and the virtual boundary separates the adjacent two cleaning areas.
  • the marker is placed on the inner and outer sides of the door frame of the indoor room. Because it is through the visual sensor, the indoor area division in this scheme cannot be realized without the marker. Therefore, at the door, there should be at least one for each cleaning area. A marker.
  • the marker is a graphic label
  • the positioning sub-module 23 includes an orientation unit 231, an extension unit 232, a truncation unit 233, a deletion unit 234, a culling unit 235, and a selection unit 236
  • the orientation unit 231 is for labeling according to the graphic
  • the spatial coordinate position in the environment map determines its orientation
  • the extension unit 232 is configured to extend the virtual plane with a preset width of greater than or equal to the width of the door along the plane of the graphic label as the center of the graphic label
  • 233 is used to intercept the virtual plane when it encounters a certain obstacle plane in the environment map during the extension from the midpoint of the graphic label to the two sides
  • the deleting unit 234 is configured to set in the opposite direction of the graphic label.
  • the determined distance is within the determined obstacle plane, and the position is deleted from the virtual plane; the culling unit 235 is configured to detect the remaining virtual plane, and cull the plane whose width is smaller than the second preset width; the selecting unit 236 is used to If there are multiple virtual planes that meet the criteria, the virtual plane closest to the center of the graphics label is selected as the virtual boundary between the two cleaning regions.
  • the cleaning robot probes the graphic label through the visual sensor, so the cleaning robot is opposite to the graphic label, and the orientation of the cleaning label and the graphic label can be determined by the orientation of the graphic label, according to The orientation of the graphic label determines the direction of the cleaning area and the adjacent cleaning area where the cleaning robot is located, and the direction of the virtual boundary, and the virtual boundary is located in the horizontal extension direction of the side of the graphic label.
  • the preset width is greater than or equal to the width of the door, so the door position must be within the virtual plane; in some embodiments, the preset width is 1.5m-3.2m.
  • the determined obstacle plane is a plane that the sweeping robot cannot pass.
  • the wall is located in the opposite direction of the graphic label, and the wall in the opposite direction is determined in the opposite direction of the graphic label.
  • the object plane can determine that the door is not in the position of the obstacle plane, and the virtual boundary is not in the position.
  • the sweeping robot cannot enter the other room through the position, so the virtual plane corresponding to the position can be deleted.
  • the second predetermined width is less than or equal to the width of the door, and the surface where the door is obviously not present may be eliminated.
  • the virtual plane closest to the center of the graphic label is most likely to have a door.
  • the second threshold is between 0.6 m and 1.5 m. It is preferably 0.6 m.
  • the cleaning robot further includes an over-border determination module 3, and the over-border determination module 3 is configured to determine that the cleaning robot encounters a virtual boundary to take evasive measures when the cleaning area is not completed; and when the cleaning area has been cleaned, the cleaning robot Cross the virtual boundary into the adjacent cleaning area.
  • the cleaning robot encounters the virtual boundary to take evasive measures; when it is determined that the cleaning area has been cleaned, the cleaning robot does not take countermeasures when encountering the virtual boundary.
  • the cleaning robot Directly past the magnetic strip into the adjacent cleaning area.
  • the order of entering the adjacent unwashed space can adopt the principle of proximity, and the sweeping robot automatically enters the adjacent cleaning area from the nearest virtual boundary according to the coordinate positioning.
  • the avoidance measure is to retreat and turn to ensure that the sweeping robot does not cross the virtual boundary.
  • the indoor cleaning area dividing method and the cleaning robot of the invention adopts the graphic label to judge the boundary, the cleaning area is divided reasonably, and the graphic labeling volume is smaller, and can be set for a long time, avoiding frequent moving of the boundary and reducing human participation.
  • the operation is more convenient, and the use of the virtual lighthouse can be compared to reduce costs.

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de division d'un espace intérieur et un aspirateur robot. Le procédé de division d'un espace intérieur comprend : la détection par un aspirateur robot d'un repère disposé au niveau d'un encadrement de porte d'une pièce intérieure ; et la détermination d'une position en coordonnées spatiales du repère, puis la détermination, en fonction de la position en coordonnées spatiales, d'une position d'une frontière virtuelle entre des espaces à nettoyer, les espaces étant séparés par la porte. L'invention utilise un repère graphique pour effectuer la détermination d'une frontière, de manière à pouvoir diviser un espace de manière raisonnable. De plus, le repère graphique est de petite taille, il peut être placé pendant une longue période et être utilisé de manière commode, et il représente un faible coût.
PCT/CN2017/114501 2017-12-04 2017-12-04 Procédé de division d'un espace intérieur et aspirateur robot WO2019109225A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/CN2017/114501 WO2019109225A1 (fr) 2017-12-04 2017-12-04 Procédé de division d'un espace intérieur et aspirateur robot

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PCT/CN2017/114501 WO2019109225A1 (fr) 2017-12-04 2017-12-04 Procédé de division d'un espace intérieur et aspirateur robot

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CN101480795A (zh) * 2008-01-11 2009-07-15 三星电子株式会社 计划移动机器人的路径的方法和设备
US20120158282A1 (en) * 2010-12-15 2012-06-21 Electronics And Telecommunications Research Institute Camera-based indoor position recognition apparatus and method
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CN205656496U (zh) * 2015-11-26 2016-10-19 江苏美的清洁电器股份有限公司 扫地机器人及其室内地图建立装置
CN106037591A (zh) * 2015-04-09 2016-10-26 美国iRobot公司 限制移动机器人的运动
CN106325266A (zh) * 2015-06-15 2017-01-11 联想(北京)有限公司 一种空间分布图的构建方法及电子设备
US20170131721A1 (en) * 2015-11-06 2017-05-11 Samsung Electronics Co., Ltd. Robot cleaner and method for controlling the same

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070150097A1 (en) * 2005-12-08 2007-06-28 Heesung Chae Localization system and method of mobile robot based on camera and landmarks
CN101480795A (zh) * 2008-01-11 2009-07-15 三星电子株式会社 计划移动机器人的路径的方法和设备
US20120158282A1 (en) * 2010-12-15 2012-06-21 Electronics And Telecommunications Research Institute Camera-based indoor position recognition apparatus and method
CN103271699A (zh) * 2013-05-29 2013-09-04 东北师范大学 一种智能家居清洁机器人
US20150269734A1 (en) * 2014-03-20 2015-09-24 Electronics And Telecommunications Research Institute Apparatus and method for recognizing location of object
CN106037591A (zh) * 2015-04-09 2016-10-26 美国iRobot公司 限制移动机器人的运动
CN106325266A (zh) * 2015-06-15 2017-01-11 联想(北京)有限公司 一种空间分布图的构建方法及电子设备
US20170131721A1 (en) * 2015-11-06 2017-05-11 Samsung Electronics Co., Ltd. Robot cleaner and method for controlling the same
CN205656496U (zh) * 2015-11-26 2016-10-19 江苏美的清洁电器股份有限公司 扫地机器人及其室内地图建立装置

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