WO2019210566A1

WO2019210566A1 - Control method and system for robotic vacuum cleaner

Info

Publication number: WO2019210566A1
Application number: PCT/CN2018/093458
Authority: WO
Inventors: 王声平; 郑勇
Original assignee: 深圳市沃特沃德股份有限公司
Priority date: 2018-05-04
Filing date: 2018-06-28
Publication date: 2019-11-07
Also published as: CN108490955A

Abstract

A control method and system for a robotic vacuum cleaner, the control method comprising: identifying a tag on a virtual wall device; parsing the tag to obtain restriction information; making a restriction mark on a grid map according to the restriction information; configuring a zone with a restriction mark to be a cleaning restricted zone; and controlling, according to the current grid map, the robotic vacuum cleaner to perform a cleaning task. The present invention acquires restriction information by identifying a tag, makes a restriction mark on a grid map according to the restriction information, forms a cleaning restricted zone according to the restriction mark, and after forming the cleaning restricted zone, according to the updated grid map, controls a robotic vacuum cleaner to perform a cleaning task, thereby solving the problem that existing methods of controlling a robotic vacuum cleaner generally use magnetic stripes laid on the ground to enclose a restricted zone, however, as it is difficult to lay curved magnetic stripes flat, users easily stumble.

Description

Control method and system for sweeping robot

Technical field

The invention relates to the technical field of smart home appliances, in particular to a control method and system for a sweeping robot.

Background technique

Sweeping robot, also known as automatic sweeping machine, intelligent vacuuming, robot vacuum cleaner, etc., is a kind of smart household appliances, which can automatically complete the floor cleaning work in the room with certain artificial intelligence. Generally, the brush and vacuum method is adopted, and the ground debris is first absorbed into its own garbage storage box, thereby completing the function of ground cleaning. Generally speaking, the robot that completes cleaning, vacuuming, and wiping the ground is also classified as a sweeping robot.

When the sweeping robot performs indoor cleaning, some users do not want the sweeping robot to clean. At this time, the user can set a “virtual wall” to limit the sweeping range of the sweeping robot. Usually, the magnetic strip is laid on the ground and surrounded by magnetic strips. In the restricted area, the Hall sensor is installed on the sweeping machine to identify the restricted area enclosed by the magnetic strip. However, laying the magnetic strip on the ground affects the appearance and brings a lot of inconveniences. For example, it is difficult to flatten the magnetic strip after curling. The user is prone to tripping, and the Hall sensor needs to be installed on the machine to increase the cost.

technical problem

In view of the deficiencies of the prior art, the present invention provides a method and system for controlling a cleaning robot, which obtains restriction information by identifying a tag, and then performs restriction marking on the grid map according to the restriction information, and forms a restriction cleaning area according to the restriction mark, aiming at solving the problem. The existing method of controlling the sweeping robot is to lay a magnetic strip on the ground, and use a magnetic strip to enclose a restricted area. Due to the use of the magnetic strip, the magnetic strip is difficult to be flattened after being curled, and the user is likely to trip over.

Technical solution

The technical solution proposed by the invention is:

A method of controlling a sweeping robot, the method comprising:

Identify tags on virtual wall devices;

Parsing the tag to obtain restriction information;

Restricting the grid map according to the restriction information;

Setting the area of the restriction mark to limit the cleaning area;

The sweeping robot is controlled to perform a sweeping task according to the current raster map.

Further, in the step of identifying the label on the virtual wall device, the method includes:

Identifying labels that are arranged between the light absorbing region and the reflective region;

Obtaining a ratio of the light absorbing region to the light reflecting region, and a length of the light absorbing region and the light reflecting region;

And obtaining a restriction mode of the label setting according to a ratio of the light absorption area to the light reflection area, and a length of the light absorption area and the light reflection area.

By identifying the labels on the front and back sides of the virtual wall device, different restrictions on the labels of the front and back sides of the virtual wall device are obtained.

Further, in the step of performing restriction marking on the grid map according to the restriction information, the method includes:

Generating a raster map of the indoor environment by the SLAM algorithm;

Marking the location of the virtual wall device on the grid map;

The grid map is restricted according to the restriction information and the position of the virtual wall device at the grid map.

Further, before the step of identifying the label on the virtual wall device, the method includes:

Control the sweeping robot to perform a planned cleaning task.

The invention also provides a control system for a cleaning robot, the system comprising:

An identification module for identifying a label on the virtual wall device;

An obtaining module, configured to parse the label, and obtain restriction information;

a marking module, configured to limit the grid map according to the restriction information;

a limit setting module, configured to set the area of the limit mark to limit the cleaning area;

The first control module is configured to control the cleaning robot to perform a cleaning task according to the current raster map.

Further, the identification module includes:

a first sub-identification module, configured to identify a label arranged in a phase between the light absorption area and the reflective area;

a first sub-acquisition module, configured to obtain a ratio of the light absorption area to the light reflection area, and a length of the light absorption area and the light reflection area;

And a second sub-acquisition module, configured to acquire a restriction manner of the label setting according to a ratio of the light absorption area to the light reflection area, and a length of the light absorption area and the light reflection area.

Further, the identification module obtains different restrictions on the labels of the front and back sides of the virtual wall device by identifying the labels on the front and back sides of the virtual wall device.

Further, the marking module comprises:

Generating a sub-module for generating a raster map of the indoor environment by using the SLAM algorithm;

a first sub-marking module, configured to mark a location of the virtual wall device on the grid map;

a second sub-marking module, configured to perform restriction marking on the grid map according to the restriction information and a location of the virtual wall device in the grid map.

Further, the system includes:

The second control module is configured to control the sweeping robot to perform a planned cleaning task.

Beneficial effect

According to the above technical solution, the invention obtains the restriction information by acquiring the restriction information by the identification tag, and then performing the restriction mark on the grid map according to the restriction information, forming the restriction cleaning area according to the restriction mark, and after forming the restriction cleaning area, according to the updated The grid map controls the sweeping robot to perform the cleaning task. The existing method for controlling the sweeping robot is to lay the magnetic strip on the ground and use the magnetic strip to enclose the restricted area. Due to the use of the magnetic strip, the magnetic strip is curled and flattened. Difficulties and problems that users can easily stumble.

DRAWINGS

1 is a flowchart of a control method of a cleaning robot according to an embodiment of the present invention;

2 is a functional block diagram of a control system of a cleaning robot according to an embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in FIG. 1 , an embodiment of the present invention provides a method for controlling a cleaning robot, and the method includes the following steps:

Step S101: Identify a label on the virtual wall device.

In this embodiment, the virtual wall device is a slat, and a label is disposed on the slat. When using the virtual wall device, the virtual wall device is placed in the need to limit the cleaning area for the sweeping robot to scan the label for identification. Place the virtual wall device in the uncleaned area, specifically, the virtual wall device at the wall.

In this embodiment, the cleaning robot is a laser radar cleaning robot. Lidar sweeping robots use lidar to scan labels without the need for additional scanning equipment.

In this embodiment, the virtual wall device is used to limit the sweeping robot cleaning area.

In step S101, the method includes:

The tags on the virtual wall device are identified by scanning.

Before step S101, the method includes:

Control the sweeping robot to perform a planned cleaning task.

When the sweeping robot performs the scheduled cleaning task, the scan function is turned on, and scanning is performed while performing the cleaning. If the label on the virtual wall device is scanned, the identification is performed.

In step S101, the method includes:

In this embodiment, the label includes a light absorbing region and a light reflecting region, and the light absorbing region and the light reflecting region are arranged to be spaced apart from each other. The light absorbing area and the light reflecting area in the label are different, and the manner of restricting the control of the sweeping machine is different. Different limiting methods are set according to the ratio of the light absorbing area to the light reflecting area and the length of the light absorbing area and the light reflecting area. For example, the label light absorbing area and the light reflecting area are, in order, the light absorbing area A, the light reflecting area B, and the light absorbing area C, wherein the length of the light absorbing area A is 3L, the length of the light reflecting area B is L, and the length of the light absorbing area C is 2L. The restriction mode is set according to the length of the light absorption region and the light reflection region being 5 L, and the ratio of the light absorption region to the light reflection region being 2:1. Specifically, the ratio of the light absorbing area to the light reflecting area and the length of the light absorbing area and the light reflecting area are sequentially encoded in a predetermined arrangement manner, and different limiting modes are set by different encoding methods. The above information is obtained when the sweeping robot scans the tag.

In this embodiment, the light absorbing area of the label is a black light absorbing material area, and the reflective area of the label is a white reflective material area.

In this embodiment, the label on the virtual wall device is defined by the location and the limit of the virtual wall device. The limitation of the label on the virtual wall device includes the virtual wall device as the center and the radius of the preset length. Qualified, or defined by the area of the virtual wall device, extending outward according to the preset length and width.

In step S101, the method includes:

In this embodiment, the virtual wall device has a front and a back side, and the front and back sides of the virtual wall device are provided with labels of different restriction modes.

In this embodiment, the virtual wall device is a virtual wall device of a passive category.

Step S102: Parse the tag and obtain the restriction information.

After the tag is identified, the tag is parsed and the restriction information is obtained. The restriction information is calculated based on the ratio of the light absorption region to the light reflection region and the length of the light absorption region and the light reflection region, and the restriction information is formed based on the analyzed restriction method to acquire the restriction information.

Step S103: Perform a restriction mark on the raster map according to the restriction information.

After obtaining the restriction information, the grid map is restricted according to the restriction information. The restriction information includes a restriction method, and the grid map is restricted according to the restriction method and the position of the virtual wall device on the grid map. The limit mark is to mark the grid that needs to be restricted on the grid map, and the red mark grid indicates that the sweeping robot is prohibited from entering.

In step S103, the method includes:

Generating a raster map of the indoor environment by the SLAM algorithm;

Mark the location of the virtual wall device on the raster map;

The raster map is restricted based on the restriction information and the location of the virtual wall device in the raster map.

SLAM The English full name is Simultaneous Localization And Mapping, also known as CML. (Concurrent Mapping and Localization), real-time positioning and map construction, or concurrent mapping and positioning. The problem that SLAM has to deal with can be described as: putting a robot into an unknown location in an unknown environment, is there a way for the robot to gradually draw a complete map of the environment, the so-called a consistent map means no obstacles Go to every corner where the room can enter.

A raster map is a raster map that generates an indoor environment through the SLAM algorithm. When identifying a label on a virtual wall device, the virtual wall device is marked on the raster map, and the position of the virtual wall device is marked on the raster map. After the virtual wall device is marked on the raster map, the raster map is restricted based on the restriction information and the position of the virtual wall device in the raster map.

In step S104, the area of the restriction mark is set to limit the cleaning area.

After the grid map completes the restriction mark, the grid of the limit mark forms an area of the limit mark, and the area of the limit mark is set. In this embodiment, the area of the limit mark is set to limit the cleaning area, that is, When the cleaning robot performs the cleaning task, the restriction of the cleaning area prohibits the entry of the cleaning robot, and the cleaning robot does not clean the restricted cleaning area.

Step S105: Control the cleaning robot to perform a cleaning task according to the current raster map.

According to the current raster map, the sweeping robot is controlled to perform the cleaning task according to the grid map after the limit cleaning area is set on the raster map. If the cleaning robot is performing the cleaning task before the identification of the label, the cleaning robot is controlled to continue the execution of the previously unfinished cleaning task according to the restricted cleaning area. If the cleaning robot is not performing the cleaning task before the label is recognized, the cleaning robot is controlled to perform the cleaning task according to the restricted cleaning area.

In summary, the restriction information is acquired by the identification tag, and the restriction mark is performed on the grid map according to the restriction information, and the restriction cleaning area is formed according to the restriction mark, and after the restriction cleaning area is formed, the cleaning of the ground is controlled according to the updated raster map. The robot performs the cleaning task, aiming at solving the existing method of controlling the sweeping robot. The magnetic strip is laid on the ground, and the magnetic strip is used to enclose the restricted area. Due to the use of the magnetic strip, the magnetic strip is flattened after being curled, and the user is easily tripped. The problem.

In addition, by limiting the cleaning area of the lidar cleaning robot by this method, the convenience of setting up a virtual wall by the user can be improved, the interference to the user caused by setting up the virtual wall can be reduced, the user experience can be improved, and the laser radar can be scanned. No additional sensors are added to the robot, reducing the cost of the robot and the assembly complexity during production.

As shown in FIG. 2, an embodiment of the present invention further provides a control system 1 for a cleaning robot. The system 1 includes an identification module 11, an acquisition module 12, a marking module 13, a restriction setting module 14, and a first control module 15.

The identification module 11 is configured to identify a label on the virtual wall device.

The identification module 11 includes:

The tags on the virtual wall device are identified by scanning.

The system includes:

The identification module 11 includes:

a first sub-acquisition module, configured to obtain a ratio of the light absorption area and the light reflection area, and a length of the light absorption area and the light reflection area;

The second sub-acquisition module is configured to obtain a restriction mode of the label setting according to the ratio of the light absorption area to the reflection area and the length of the light absorption area and the reflection area.

The identification module 11 obtains different restrictions on the labels of the front and back sides of the virtual wall device by identifying the labels on the front and back sides of the virtual wall device.

The obtaining module 12 is configured to parse the label and obtain the restriction information.

The marking module 13 is configured to limit the grid map according to the restriction information.

The marking module 13 includes:

a first sub-marking module for marking a location of the virtual wall device on the grid map;

The second sub-marking module is configured to limit the grid map according to the restriction information and the position of the virtual wall device in the grid map.

SLAM English full name is Simultaneous Localization And Mapping, also known as CML (Concurrent Mapping and Localization), real-time location and map construction, or concurrent mapping and positioning. The problem that SLAM has to deal with can be described as: putting a robot into an unknown location in an unknown environment, is there a way for the robot to gradually draw a complete map of the environment, the so-called a consistent map means no obstacles Go to every corner where the room can enter.

The restriction setting module 14 is configured to set the area of the restriction mark to limit the cleaning area.

The first control module 15 is configured to control the cleaning robot to perform a cleaning task according to the current raster map.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.

Claims

A method for controlling a sweeping robot, characterized in that the method comprises:

Identify tags on virtual wall devices;

Parsing the tag to obtain restriction information;

Restricting the grid map according to the restriction information;

Setting the area of the restriction mark to limit the cleaning area;

The sweeping robot is controlled to perform a sweeping task according to the current raster map.
The method for controlling a cleaning robot according to claim 1, wherein the step of identifying the label on the virtual wall device comprises:

Identifying labels that are arranged between the light absorbing region and the reflective region;

Obtaining a ratio of the light absorbing region to the light reflecting region, and a length of the light absorbing region and the light reflecting region;

And obtaining a restriction mode of the label setting according to a ratio of the light absorption area to the light reflection area, and a length of the light absorption area and the light reflection area.
The method for controlling a cleaning robot according to claim 2, wherein the step of identifying a label on the virtual wall device comprises:

By identifying the labels on the front and back sides of the virtual wall device, different restrictions on the labels of the front and back sides of the virtual wall device are obtained.
The control method of the cleaning robot according to claim 1, wherein the step of limiting the grid map according to the restriction information comprises:

Generating a raster map of the indoor environment by the SLAM algorithm;

Marking the location of the virtual wall device on the grid map;

The grid map is restricted according to the restriction information and the position of the virtual wall device at the grid map.
The method of controlling a cleaning robot according to claim 1, before the step of identifying a label on the virtual wall device, the method comprises:

Control the sweeping robot to perform a planned cleaning task.
A control system for a sweeping robot, characterized in that the system comprises:

An identification module for identifying a label on the virtual wall device;

An obtaining module, configured to parse the label, and obtain restriction information;

a marking module, configured to limit the grid map according to the restriction information;

a limit setting module, configured to set the area of the limit mark to limit the cleaning area;

The first control module is configured to control the cleaning robot to perform a cleaning task according to the current raster map.
The control system of a cleaning robot according to claim 6, wherein the identification module comprises:

a first sub-identification module, configured to identify a label arranged in a phase between the light absorption area and the reflective area;

a first sub-acquisition module, configured to obtain a ratio of the light absorption area to the light reflection area, and a length of the light absorption area and the light reflection area;

And a second sub-acquisition module, configured to acquire a restriction manner of the label setting according to a ratio of the light absorption area to the light reflection area, and a length of the light absorption area and the light reflection area.
The control system of the cleaning robot according to claim 7, wherein the identification module acquires different restrictions on the labels of the front and back sides of the virtual wall device by identifying the labels on the front and back sides of the virtual wall device.
A control system for a cleaning robot according to claim 6, wherein the marking module comprises:

Generating a sub-module for generating a raster map of the indoor environment by using the SLAM algorithm;

a first sub-marking module, configured to mark a location of the virtual wall device on the grid map;

a second sub-marking module, configured to perform restriction marking on the grid map according to the restriction information and a location of the virtual wall device in the grid map.
A control system for a cleaning robot according to claim 6, the system comprising:

The second control module is configured to control the sweeping robot to perform a planned cleaning task.