WO2019218437A1

WO2019218437A1 - Smart loudspeaker-based method and system for assisting sweeping machine in cleaning

Info

Publication number: WO2019218437A1
Application number: PCT/CN2018/094127
Authority: WO
Inventors: 刘先名
Original assignee: 深圳市沃特沃德股份有限公司
Priority date: 2018-05-15
Filing date: 2018-07-02
Publication date: 2019-11-21
Also published as: CN108445889A; CN108445889B

Abstract

Disclosed in the present application are a smart loudspeaker-based method and system for assisting a sweeping machine in cleaning. The method for assisting a sweeping machine in cleaning comprises: a smart loudspeaker obtains an environment map and coordinate information of a current sweeping machine on the environment map; and obtaining a correspondence between the coordinate information and a first origin point which is the smart loudspeaker, mapping the environment map into a field of view map having the coordinate information used as a second origin point, and sending the field of view map to the sweeping machine. The present invention can obtain an area cleaned by a sweeping machine to avoid missing or repeating in cleaning, thereby improving the cleaning efficiency.

Description

Method and system for cleaning based on intelligent sound assisted sweeping machine

Technical field

The invention relates to the technical field of smart homes, in particular to a method and system for cleaning based on intelligent sound-assisted sweeping machines.

Background technique

At present, there are all kinds of sweepers on the market, which is a good helper for human cleaning. Due to the complexity and diversity of the cleaning environment, it is necessary to avoid obstacles and accurately position the cleaning, but the existing technology still remains. There is a phenomenon of sweeping or re-sweeping, which in turn affects the cleaning effect.

technical problem

The main object of the present invention is to provide a method for sweeping a sweeper that accurately positions and avoids slippage.

Technical solution

The invention provides a method for cleaning according to the intelligent sound-assisted sweeping machine. The intelligent sound is located in the working area of the sweeping machine, and establishes a communication connection with the sweeping machine, and the method for assisting the sweeping machine to clean includes:

The smart sound acquires an environment map in which the location of the smart sound is the first origin, wherein the environment map includes a position corresponding to the obstacle area, the uncleaned area, and the cleaned area respectively;

Obtaining coordinate information of the current sweeping machine on the environment map;

Obtaining a correspondence between the coordinate information and the first origin to map the environment map to a map of the sweeper field of view with the coordinate information as a second origin, and transmitting the map to the sweeper.

Further, the step of acquiring the environment map in the working area with the location of the smart sound as the first origin includes:

Receiving, by the ultrasonic sensor or the laser radar sensor disposed on the smart sound, the working area, where the location of the smart sound is the first origin;

Obtaining pixel values of the corresponding positions of the obstacle area, the unswept area, and the cleaned area on the environment map;

Obtaining, according to each of the pixel values, an area boundary of the corresponding position of the obstacle area, the unswept area, and the cleaned area.

Further, the step of acquiring coordinate information of the current sweeper on the environment map includes:

Transmitting a sound source signal to at least one pair of microphones disposed on the sweeping machine;

Obtaining a positional relationship between the sweeping machine and the intelligent sound according to the sound source signal;

Calculating coordinate information of the current sweeper on the environment map according to the positional relationship, and marking the coordinate information to a corresponding position of the environment map.

Further, the step of acquiring a positional relationship between the sweeping machine and the intelligent sound according to the sound source signal includes:

Acquiring and converting the digital signal converted by the sound source signal;

Performing sound source localization calculation on the digital signal according to a time difference of the smart sound to each of the at least one pair of microphones;

Obtaining a positional relationship between the sweeper and the intelligent sound according to an output result of the sound source localization calculation.

The invention also proposes a method based on intelligent sound-assisted sweeping machine cleaning, the intelligent sound is located in the working area of the sweeping machine, and establishes a communication connection with the sweeping machine, and the method for assisting the cleaning of the sweeping machine comprises:

The sweeping machine receives the work area sent by the smart sound with an environment map where the location of the smart sound is the first origin, wherein the environment map includes a position corresponding to the obstacle area, the uncleaned area, and the cleaned area respectively. ;

Receiving coordinate information of the current sweeper sent by the smart sound on the environment map;

Receiving a correspondence between the coordinate information sent by the smart sound and the first origin;

And mapping the environment map to a sweeper view map with the coordinate information as a second origin according to the corresponding positional relationship.

The invention provides a cleaning system based on an intelligent sound-assisted sweeping machine. The intelligent sound is located in the working area of the sweeping machine, and establishes a communication connection with the sweeping machine. The system for assisting the cleaning of the sweeping machine comprises:

a first acquisition module, configured to acquire an environment map of the work area with the location of the smart sound as a first origin, wherein the environment map includes an obstacle area, an unswept area, and a cleaned area respectively. position;

a second acquiring module, configured to acquire coordinate information of the current sweeping machine on the environment map;

An execution module, configured to acquire a correspondence between the coordinate information and the first origin, to map the environment map to a vision map of a sweeper with the coordinate information as a second origin, and send the map to the sweeper .

Further, the first obtaining module includes:

a first receiving unit, configured to receive the environment map sent by the ultrasonic sensor or the lidar sensor disposed on the smart sound, and the environment where the smart sound is located as a first origin;

a first acquiring unit, configured to acquire pixel values of the corresponding positions of the obstacle area, the unswept area, and the cleaned area on the environment map;

And a second acquiring unit, configured to acquire, according to each of the pixel values, an area boundary of the corresponding position of the obstacle area, the uncleaned area, and the cleaned area.

Further, the second obtaining module includes:

a first sending unit, configured to send a sound source signal to at least one pair of microphones disposed on the sweeping machine;

a third acquiring unit, configured to acquire a positional relationship between the sweeping machine and the smart sound according to the sound source signal;

The first marking unit is configured to calculate coordinate information of the current sweeper on the environment map according to the positional relationship, and mark the coordinate information in a corresponding position of the environment map.

Further, the third obtaining unit includes:

a first conversion subunit, configured to convert the sound source signal into a digital signal, and store the signal;

a first calculating subunit, configured to perform sound source localization calculation on the digital signal according to a time difference of the smart sound to each of the at least one pair of microphones;

a first obtaining subunit, configured to obtain a positional relationship between the sweeping machine and the smart sound according to an output result of the sound source positioning calculation.

a first receiving module, configured to receive, by the sweeping machine, an environment map of the work area sent by the smart sound, where the location of the smart sound is a first origin, wherein the environment map includes an obstacle area, an unswept area, and The locations corresponding to the cleaned areas;

a second receiving module, configured to receive coordinate information of the current sweeper sent by the smart sound on the environment map;

a third receiving module, configured to use a correspondence between the coordinate information sent by the smart sound and the first origin;

And a conversion module, configured to map the environment map to a sweeper view map with the coordinate information as a second origin according to the corresponding positional relationship.

Beneficial effect

The utility model relates to a method and a system for cleaning the intelligent sound-assisted sweeping machine according to the invention, which is obtained by acquiring an environment map of the working area and acquiring the area to be cleaned by the sweeping machine according to the position of the sweeping machine located at the environment map. To avoid sweeping or re-sweeping the sweeper, saving time and improving the efficiency of cleaning.

DRAWINGS

1 is a schematic flow chart of a method for cleaning a smart-audio-assisted sweeper according to an embodiment of the present invention;

2 is a schematic diagram of a specific process of step S1 in an embodiment of the present invention;

3 is a schematic diagram of a specific process of step S2 in an embodiment of the present invention;

4 is a schematic diagram of a specific process of step S22 in an embodiment of the present invention;

5 is a schematic flow chart of a method for cleaning a smart-audio-assisted sweeper according to another embodiment of the present invention;

6 is a schematic structural view of a cleaning system based on an intelligent sound assisted sweeper according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a first acquiring module according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic structural diagram of a second acquiring module according to an embodiment of the present invention; FIG.

FIG. 9 is a schematic structural diagram of a third acquiring unit according to an embodiment of the present invention; FIG.

FIG. 10 is a schematic structural view of a cleaning system based on an intelligent sound assisted sweeper according to another embodiment of the present invention.

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

BEST MODE FOR CARRYING OUT THE INVENTION

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 , a method for cleaning a smart sound-assisted sweeping machine according to the present invention is provided. The intelligent sound is located in the working area of the sweeping machine, and establishes a communication connection with the sweeping machine, and the method for assisting the cleaning of the sweeping machine includes:

S1. The intelligent sound obtains an environment map with the location of the smart sound as the first origin by acquiring the work area, wherein the environment map includes a position corresponding to the obstacle area, the uncleaned area and the cleaned area respectively;

S2. Obtain coordinate information of the current sweeper on the environment map;

S3. Acquire a correspondence between the coordinate information and the first origin to map the environment map to a vision map of the sweeper with the coordinate information as the second origin, and send the map to the sweeper.

In this embodiment, an ultrasonic sensor or a lidar sensor is disposed on the intelligent sound, and an environment map formed by the working area is obtained by scanning the ultrasonic sensor or the lidar sensor, wherein the working area is a preset cleaning area, such as a smart sound. It is installed in the family hall, sets the environment in the hall as the required work area, forms an environment map for the hall environment, and displays a display screen on the smart sound for displaying the environment map, wherein the horizontal direction is the X axis and the vertical direction is the Y axis. In the coordinate system, an ultrasonic sensor or a lidar sensor provided on the smart sound is set as an origin of the coordinate system on the environment map, and the scanned environment map includes a position corresponding to the obstacle area, the uncleaned area, and the cleaned area, respectively. At the position, coordinates corresponding to the environment map are displayed for displaying the relative position with the first origin, and the intelligent sound acquires the correspondence between the coordinate information and the first origin through the environment map, so as to map the environment map to coordinate information. Sweeper field of view of the second origin And transmitting to the sweeper, rotating the transformation by moving the change or Euler angle, and converting the rotation matrix of the two coordinate systems. As in a specific embodiment, the ultrasonic sensor or the lidar sensor provided on the smart sound is The coordinate origin A(0,0) on the environment map, the coordinate of an obstacle on the environment map is P(2,2), and the coordinate position T of the sweeper on the environment map can be obtained according to the sound source localization calculation (1) , 0), the horizontal map is displayed as the X-axis in the environment map, and the two-dimensional coordinate system is formed as the Y-axis in the vertical direction, and the environmental map with the acoustic coordinate system as the first origin is converted into the view map with the sweeping machine as the second origin. The sweeper is the second origin T1 (0, 0), the coordinates of the smart sound is A1 (-1, 0), and the obstacle is on the map P1 (1, 2) on the field of view map. The obstacle area, the unswept area, and the cleaned area are scanned to display different display values corresponding to the pixel values displayed on the environment map, wherein the first formed environment map includes only the unswept area and the obstacle area. position. For example, if the obstacle displays a pixel value of 0, it is displayed as black on the environment map, the scanned area displays a pixel value of 255, the environment map is displayed as white, and the unscanned area displays a pixel value of 254, on the environment map. The display is gray, the position where the sweeper has been cleaned is displayed in white, and the unswept display is gray.

Laser sensor, a sensor that uses laser technology to measure. It consists of a laser, a laser detector and a measuring circuit. The laser sensor is a new type of measuring instrument that realizes contactless long-distance measurement with high speed, high precision, large measuring range, strong resistance to light and electric interference.

An ultrasonic sensor is a sensor that converts an ultrasonic signal into another energy signal (usually an electrical signal). Ultrasonic wave is a mechanical wave with a vibration frequency higher than 20KHz. It has the characteristics of high frequency, short wavelength, small diffraction phenomenon, especially good directionality, and can be directional and propagated. Ultrasonic penetration of liquids and solids is great, especially in sunlight-opaque solids. When an ultrasonic wave hits an impurity or an interface, it will produce a significant reflection to form a reflection into an echo, which can produce a Doppler effect when it hits a moving object. Widely used in industrial, national defense, biomedical and other aspects.

By positioning the sweeping machine, the specific positional relationship between the sweeping machine and the intelligent sound is obtained. By comparing the positioning of the sweeping machine itself, the positioning of the sweeping machine is corrected, the positioning longitude of the sweeping machine is improved, and the position corresponding to the sweeping machine is obtained. On the environment map, in order to calculate the specific positional relationship between the sweeper and the unswept area, according to the layout of the environment map, the environment map is mapped to the sweeper vision map with the corresponding coordinate information of the sweeping machine as the second origin, and the visual field map is transmitted. To the sweeper, the sweeper cleans the uncleaned area to avoid sweeping.

As shown in FIG. 2, in the embodiment, the step of acquiring the environment map S1 in which the smart sound is located in the working area with the location of the smart sound as the first origin includes:

S11. Receive an environment map that is sent by the ultrasonic sensor or the lidar sensor disposed on the smart sound, and the location of the smart sound is the first origin;

S12. Acquire pixel values of corresponding positions of the obstacle area, the unswept area, and the cleaned area on the environment map;

S13. Acquire an area boundary of the corresponding position of the obstacle area, the uncleaned area, and the cleaned area according to each pixel value.

In this embodiment, the ultrasonic sensor or the lidar sensor provided on the smart sound acquires the environment map formed by the working area, and the working area is arranged on the environment map according to the scale corresponding, and the obstacle area on the obtained environmental map is not obtained. The pixel values of the corresponding positions of the cleaning area and the cleaned area are displayed on the environment map, and then the boundary of the area corresponding to the obstacle area, the unswept area and the cleaned area can be obtained, and the position of the intelligent sound is taken as the first origin. The environment map maps the environment map to the sweeper vision map with the coordinate information as the second origin, and sends it to the sweeper. The sweeper cleans the unswept area according to the area boundary of the view map to prevent the sweep or rescan. Phenomenon, save time and improve work efficiency.

As shown in FIG. 3, in the embodiment, the step of acquiring the coordinate information S2 of the current sweeping machine on the environment map includes:

S21: Send a sound source signal to at least one pair of microphones disposed on the sweeping machine;

S22. Acquire a positional relationship between the sweeping machine and the intelligent sound according to the sound source signal;

S23. Calculate coordinate information of the current sweeper on the environment map according to the positional relationship, and mark the coordinate information in a corresponding position of the environment map.

In this embodiment, the sweeping machine is positioned by the sound source localization method, the intelligent sound emits a sound source signal, and the sweeping machine is provided with at least one pair of microphones for receiving the sound source signal, and the sound is received by calculating a pair of microphones. The time difference of the source is calculated, the positional relationship between the sound and the sweeping machine is calculated, and the positioning information obtained by the positioning system of the sweeping machine is compared, and the precise positioning information of the sweeping machine is obtained, wherein the ultrasonic sensor or the lidar sensor is correspondingly The position is set as the first origin on the environment map, and the specific position of the sweeper relative to the smart sound is obtained, and is displayed on the environment map by the proportional correspondence.

As shown in FIG. 4, in the embodiment, the step of acquiring the positional relationship S22 between the sweeper and the intelligent sound according to the sound source signal includes:

S221. Convert the sound source signal into a digital signal and store it;

S222. Perform sound source localization calculation on the digital signal according to a time difference of the smart sound to each of the at least one pair of microphones;

S223. Obtain a positional relationship between the sweeping machine and the intelligent sound according to the output result of the sound source positioning calculation.

In this embodiment, a pair of microphones are pre-installed on the sweeping machine, and the intelligent sound device with the ultrasonic sensor or the lidar sensor is placed in a relatively empty place or a designated position in the room; when the smart sound is played, one on the sweeping machine The sound source signal is collected for the microphone, and the positional relationship between the sound and the sweeper is calculated.

When the sweeper moves, it can know its positional relationship with the sound in real time. According to the position information obtained by the sweeper's own positioning and sound source localization, the sweeper is corrected to achieve precise positioning.

A pair of microphones arranged on the sweeping machine collect sound source signals, and convert the signals into digital signals for storage; Fourier transform is performed on the data signals collected by each microphone to transform the signals from the time domain to the frequency domain:

Where x[n] is the signal in the time domain, ω is the frequency variable, j is a unit of the complex imaginary part, m is the variable from 1 to n, and S(ω) is the frequency domain obtained after Fourier transform. signal of;

Calculating the signal-to-noise ratio of the space environment where the microphone is located, and determining the signal-to-noise ratio parameter ρ, 0 ≤ ρ ≤ 1 according to the signal-to-noise ratio;

Weighted cross-correlation of the frequency domain signals of the microphone pair:

Where W*n(w) is the weighting function:

Where ф12(ω) is a mutual power spectral density function;

Perform an inverse Fourier transform on the result of the cross-correlation operation, from the frequency domain to the time domain:

Search for the maximum value of R' [n], find the position of the maximum value, and obtain the time difference between the sound source and the microphone pair;

The position of the sound source relative to the microphone pair is calculated based on the time difference and the distance between the two microphones in the microphone pair.

By locating the sweeping machine by the method of sound source localization, by comparing with the positioning information of the sweeping machine itself, the precise position of the sweeping machine can be obtained, and then the unswept area can be cleaned to prevent the phenomenon of sweeping or re-sweeping, saving Time to improve work efficiency.

As shown in FIG. 5, another method based on intelligent acoustic assisted sweeping machine is proposed. The intelligent sound is located in the working area of the sweeping machine, and establishes a communication connection with the sweeping machine. The method for assisting the cleaning of the sweeping machine includes:

S100. The sweeping machine receives an environment map in which the location of the smart sound is the first origin of the work area sent by the smart sound, wherein the environment map includes a position corresponding to the obstacle area, the uncleaned area and the cleaned area respectively;

S200, receiving coordinate information of the current sweeper sent by the intelligent sound on the environment map;

S300: receiving a correspondence between coordinate information sent by the intelligent sound and the first origin;

S400. Map the environment map according to the corresponding positional relationship to a vision map of the sweeper with the coordinate information as the second origin.

In this embodiment, the sweeping machine receives the environment map sent by the smart sound through the working area with the position of the smart sound as the first origin, wherein the intelligent sound is provided with an ultrasonic sensor or a lidar sensor, and the working area is preset monitoring The area to be cleaned, such as the smart sound is set in the family hall, the environment in the hall is set to the required work area, the environment map is formed on the lobby environment, and the display screen is set on the smart sound for displaying the environment map, wherein the horizontal map is used as the environment map. The X-axis and the vertical direction form a coordinate system as the Y-axis, and the ultrasonic sensor or the lidar sensor provided on the intelligent sound is set as the first origin of the coordinate system on the environment map, and the environmental map scanned by the ultrasonic sensor or the lidar sensor includes the obstacle region. The position corresponding to the unswept area and the cleaned area respectively, and the coordinates corresponding to the environment map are displayed at each position for displaying the relative position with the first origin, and the current sweeper that receives the smart sound is sent on the environment map. Coordinate information on, as well as pick up Corresponding relationship between the coordinate information sent by the intelligent sound and the first origin, according to the corresponding positional relationship, the environmental map is mapped to the vision map of the sweeper with the coordinate information as the second origin, and the rotation is changed by the movement change or the Euler angle, for two The coordinate system performs the transformation of the rotation matrix. As in a specific embodiment, the ultrasonic sensor or the lidar sensor disposed on the intelligent sound is the coordinate origin A(0, 0) on the environment map, and the coordinates of an obstacle on the environment map. For P(2,2), according to the sound source localization calculation, the coordinate position T of the sweeper on the environment map can be obtained as (1, 0), the horizontal map is displayed as the X-axis in the environment map, and the vertical direction is used as the Y-axis to form the two-dimensional coordinate system. The environment map with the acoustic coordinate system as the first origin is converted into the field of view map with the sweeping machine as the second origin. The converted sweeper has the second origin T1 (0, 0) and the coordinates of the smart sound is A1 ( -1,0), the coordinate P1 (1, 2) of the obstacle on the field of view map. The obstacle area, the unswept area, and the cleaned area are scanned differently according to pixels displayed on the environment map, and different display states are presented, wherein the first formed environment map only includes the unswept area and the obstacle area corresponding to s position. If the obstacle shows a pixel of 0, it is displayed in black on the environment map, the scanned area shows 255 pixels, it is displayed on the environment map as white, and the unscanned area displays 254 pixels, which is grayed out on the environment map. The position where the sweeper has been cleaned is displayed in white, and the display for cleaning is gray.

By positioning the sweeping machine, the specific positional relationship between the sweeping machine and the intelligent sound is obtained. By comparing the positioning of the sweeping machine itself, the positioning of the sweeping machine is corrected, the positioning longitude of the sweeping machine is improved, and the position corresponding to the sweeping machine is obtained. On the environmental map, in order to calculate the specific positional relationship between the sweeper and the unswept area, according to the layout of the environment map, the environment map is mapped to the vision map of the sweeper with the coordinate information as the second origin, and the sweeper pairs the unswept area. Clean it to avoid sweeping.

As shown in FIG. 6, the present invention proposes a system based on intelligent sound-assisted sweeping machine cleaning. The intelligent sound is located in the working area of the sweeping machine, and establishes a communication connection with the sweeping machine. The system for assisting the sweeping machine to clean includes:

The first obtaining module 1 is configured to acquire an environment map in which the location of the smart sound is the first origin by the smart sound, wherein the environment map includes a position corresponding to the obstacle area, the uncleaned area and the cleaned area respectively;

The second obtaining module 2 is configured to acquire coordinate information of the current sweeping machine on the environment map;

The execution module 3 is configured to acquire a correspondence between the coordinate information and the first origin to map the environment map to a map of the sweeper vision with the coordinate information as the second origin, and send the map to the sweeper.

In this embodiment, the smart sound acquires an environment map in which the location of the smart sound is the first origin through the first acquisition module 1 , wherein the smart sound is provided with an ultrasonic sensor or a lidar sensor, and the ultrasonic sensor or the lidar sensor is used. Scan to obtain the environment map formed by the work area. The work area is the preset cleaning area. For example, the smart sound is set in the family hall, the environment in the hall is set to the required work area, and the environment map is formed on the hall environment. There is a display screen for displaying an environment map, wherein the horizontal direction is the X axis, the vertical direction is the Y axis to form a coordinate system, and the ultrasonic sensor or the lidar sensor provided on the intelligent sound is set as the first origin of the coordinate system on the environment map. The scanned environment map includes a position corresponding to the obstacle area, the unswept area, and the cleaned area, and each position displays a coordinate corresponding to the environment map for displaying the relative position with the first origin. The second acquisition module 2 is obtained through the intelligent sound Taking the coordinate information of the current sweeping machine on the environment map, the execution module 3 acquires the correspondence between the coordinate information and the first origin through the intelligent sound, so as to map the environment map to the vision map of the sweeper with the coordinate information as the second origin, and Send to the sweeper, rotate the transformation by moving the change or Euler angle, and transform the rotation matrix of the two coordinate systems. As in a specific embodiment, the ultrasonic sensor or the lidar sensor set on the smart sound is on the environmental map. The coordinate origin A(0,0), the coordinate of an obstacle on the environment map is P(2,2). According to the sound source localization calculation, the coordinate position T of the sweeper on the environment map can be obtained as (1,0). The horizontal map is displayed as the X-axis in the environment map, and the two-dimensional coordinate system is formed as the Y-axis in the vertical direction. The environment map with the acoustic coordinate system as the first origin is converted into the field of view map with the sweeping machine as the second origin, and the converted sweeper The second origin is T1 (0, 0), the coordinates of the intelligent sound are A1 (-1, 0), and the obstacle is on the map P1 (1, 2) on the visual field map. The obstacle area, the unswept area, and the cleaned area are scanned differently according to the pixels displayed on the environment map, and different display states are presented, wherein the first formed environment map only includes the unswept area and the position corresponding to the obstacle area. . For example, if the obstacle displays a pixel value of 0, it is displayed as black on the environment map, the scanned area displays a pixel value of 255, the environment map is displayed as white, and the unscanned area displays a pixel value of 254, on the environment map. The display is gray, the position where the sweeper has been cleaned is displayed in white, and the unswept display is gray.

As shown in FIG. 7, in the embodiment, the first obtaining module 1 includes:

The first receiving unit 11 is configured to receive an environment map sent by the ultrasonic sensor disposed on the smart sound or the working area sent by the lidar sensor with the location of the smart sound as the first origin;

The first obtaining unit 12 is configured to acquire pixel values of the corresponding positions of the obstacle area, the unswept area, and the cleaned area on the environment map;

The second obtaining unit 13 is configured to acquire an area boundary of the corresponding position of the obstacle area, the unswept area, and the cleaned area according to each pixel value.

In this embodiment, the ultrasonic sensor or the laser radar sensor disposed on the smart sound acquires an environment map formed by the working area, and the working area is arranged on the environment map according to the scale corresponding, and the first receiving unit 11 receives the ultrasonic sensor or the laser. a working area sent by the radar sensor, wherein the working area is an environment map with the location of the intelligent sound as the first origin; the first acquiring unit 12 displays the pixel values corresponding to the positions of the obstacle area, the unswept area and the cleaned area respectively on the environment map. In addition, the second acquiring unit 13 may further acquire an area boundary of the obstacle area, the unswept area, and the corresponding position of the cleaned area, form an environment map with the location of the intelligent sound as the first origin, and then map the environment map to the coordinates. The information is the second origin of the sweeper vision map, and is sent to the sweeper. The sweeper cleans the uncleaned area according to the area boundary of the field of view map to prevent the phenomenon of sweeping or rescanning, saving time and improving work efficiency.

As shown in FIG. 8, in this embodiment, the second obtaining module 2 includes:

a first sending unit 21, configured to send a sound source signal to at least one pair of microphones disposed on the sweeping machine;

a third acquiring unit 22, configured to acquire a positional relationship between the sweeping machine and the intelligent sound according to the sound source signal;

The first marking unit 23 is configured to calculate coordinate information of the current sweeper on the environment map according to the positional relationship, and mark the coordinate information in a corresponding position of the environment map.

In this embodiment, the sweeping machine is positioned by the method of sound source localization, and the first transmitting unit 21 sends a sound source signal to at least one pair of microphones for receiving the sound source signal disposed on the sweeping machine, and calculates a pair of microphones. The time difference between the receiving sound source is calculated, the positional relationship between the sound and the sweeping machine is calculated, and the positioning information obtained by the positioning system of the sweeping machine is compared, and the third obtaining unit 22 acquires the precise positioning information of the sweeping machine, the first marking The unit 23 is disposed on the environment map by using the position corresponding to the ultrasonic sensor or the lidar sensor as the first origin, and acquiring the specific position of the sweeper relative to the smart sound, and marking the environment map by the proportional correspondence.

As shown in FIG. 9, in the embodiment, the third obtaining unit 22 includes:

The first conversion subunit 221 is configured to convert the sound source signal into a digital signal and store the signal;

a first calculating sub-unit 222, configured to perform sound source localization calculation on the digital signal according to a time difference of the smart sound to each of the at least one pair of microphones;

The first obtaining sub-unit 223 is configured to obtain a positional relationship between the sweeping machine and the intelligent sound according to the output result of the sound source positioning calculation.

When the sweeper moves, it can know its positional relationship with the speaker in real time. According to the position information obtained by the sweeper's own positioning and sound source localization, the sweeper is corrected to achieve precise positioning.

A pair of microphones disposed on the sweeping machine collects sound source signals, and the first converting word unit 221 stores the signals by converting the signals into digital signals; the first calculating sub-unit 22 performs Fourier transform on the data signals collected by each microphone, The signal is transformed from the time domain to the frequency domain:

Where W*n(w) is the weighting function:

Where ф12(ω) is a mutual power spectral density function;

The first acquisition sub-unit 223 calculates the position of the sound source relative to the microphone pair based on the time difference and the distance between the two microphones in the microphone pair.

As shown in FIG. 10, the present invention further provides another intelligent sound-assisted sweeping machine cleaning system. The intelligent sound is located in the working area of the sweeping machine, and establishes a communication connection with the sweeping machine. The system for assisting the sweeping machine includes:

The first receiving module 100 is configured to receive, by the sweeping machine, an environment map in which the location of the smart sound is the first origin of the working area sent by the smart sound, wherein the environment map includes a position corresponding to the obstacle area, the uncleaned area, and the cleaned area respectively. ;

The second receiving module 200 is configured to receive coordinate information of the current sweeper on the environment map sent by the smart sound;

The third receiving module 300 is configured to receive a correspondence between the coordinate information sent by the smart sound and the first origin;

The conversion module 400 is configured to map the environment map to the sweeper view map with the coordinate information as the second origin according to the corresponding positional relationship.

In this embodiment, the sweeping machine receives the ultrasonic sensor or the lidar sensor that is sent by the smart sound through the first sound receiving device 100, and obtains an environment map in which the working area is the first origin of the smart sound. Among them, the intelligent sound is provided with an ultrasonic sensor or a lidar sensor, and the working area is a preset cleaning area, such as setting the intelligent sound in the family hall, setting the environment in the hall as the required working area, and forming an environmental map for the lobby environment. A display screen is provided on the intelligent sound for displaying the environment map, wherein the horizontal direction is the X axis, the vertical direction is the Y axis, and the ultrasonic sensor or the lidar sensor set on the intelligent sound is set as the first origin of the coordinate system. On the environmental map, the environment map scanned by the ultrasonic sensor or the lidar sensor includes a position corresponding to the obstacle area, the unswept area, and the cleaned area, and coordinates corresponding to the environment map are displayed at each position for display. With the first origin For the location, the second receiving module 200 acquires the coordinate information of the current sweeper on the environment map sent by the smart sound, and the third receiving module 300 receives the coordinate information of the current sweeper on the environment map and receives the smart sound by receiving the smart sound. The mapping relationship between the transmitted coordinate information and the first origin, the conversion module 400 maps the environment map to the vision map of the sweeper with the coordinate information as the second origin according to the corresponding positional relationship, and performs rotation transformation by moving the change or Euler angle, The coordinate system performs the transformation of the rotation matrix. As in a specific embodiment, the ultrasonic sensor or the lidar sensor disposed on the intelligent sound is the coordinate origin A(0, 0) on the environment map, and an obstacle is on the environment map. The coordinates are P(2, 2). According to the sound source localization calculation, the coordinate position T of the sweeper on the environment map can be obtained as (1, 0), the horizontal map is displayed as the X axis in the environment map, and the vertical direction is used as the Y axis to form the two-dimensional coordinates. System, converting the environment map with the acoustic coordinate system as the first origin to the field of view with the sweeping machine as the second origin Converted to a second sweeper origin T1 (0,0), the coordinates of the smart sound A1 (-1,0), the obstacle coordinates P1 (1,2) on the map of the field of view. The obstacle area, the unswept area, and the cleaned area are scanned differently according to pixels displayed on the environment map, and different display states are presented, wherein the first formed environment map only includes the unswept area and the obstacle area corresponding to s position. For example, if the obstacle displays a pixel value of 0, it is displayed as black on the environment map, the scanned area displays a pixel value of 255, the environment map is displayed as white, and the unscanned area displays a pixel value of 254, on the environment map. The display is gray, and the position where the sweeper has been cleaned is displayed in white, and the display for cleaning is gray.

The invention discloses a method and system for cleaning the intelligent sound-assisted sweeping machine, and obtains an environment map of the working area, and obtains an area to be cleaned by the sweeping machine according to the position corresponding to the environment map of the sweeping machine, thereby avoiding the sweeping machine Sweep or re-sweep, saving time and improving the efficiency of cleaning.

The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related The technical field is equally included in the scope of patent protection of the present invention.

Claims

The utility model relates to a method for cleaning the intelligent sound-assisted sweeping machine, characterized in that the intelligent sound is located in the working area of the sweeping machine and establishes a communication connection with the sweeping machine, and the method for assisting the sweeping machine to clean includes:

The smart sound acquires an environment map in which the location of the smart sound is the first origin, wherein the environment map includes a position corresponding to the obstacle area, the uncleaned area, and the cleaned area respectively;

Obtaining coordinate information of the current sweeping machine on the environment map;

Obtaining a correspondence between the coordinate information and the first origin to map the environment map to a map of the sweeper field of view with the coordinate information as a second origin, and transmitting the map to the sweeper.
The method for cleaning a smart-audio-assisted sweeping machine according to claim 1, wherein the step of acquiring the environmental map of the working area with the location of the smart sound as the first origin includes :

Receiving an ultrasonic sensor or a lidar sensor disposed on the smart sound, and sending the working area to an environment map with the location of the smart sound as a first origin;

Obtaining pixel values of the corresponding positions of the obstacle area, the unswept area, and the cleaned area on the environment map;

Obtaining, according to each of the pixel values, an area boundary of the corresponding position of the obstacle area, the unswept area, and the cleaned area.
The method for cleaning a smart-audio-assisted sweeping machine according to claim 2, wherein the acquiring pixel values of the obstacle region, the unswept region and the cleaned region respectively corresponding to the environment map Steps include:

Obtaining a pixel value of the corresponding location of the obstacle area on the environment map is 0, obtaining a pixel value of the corresponding position of the scanned area on the environment map is 255, and acquiring the unscanned area in the environment The pixel value of the corresponding position on the map is 254.
The method of claim 1 , wherein the step of acquiring the coordinate information of the current sweeping machine on the environment map comprises:

Transmitting a sound source signal to at least one pair of microphones disposed on the sweeping machine;

Obtaining a positional relationship between the sweeping machine and the intelligent sound according to the sound source signal;

Calculating coordinate information of the current sweeper on the environment map according to the positional relationship, and marking the coordinate information to a corresponding position of the environment map.
The method according to claim 4, wherein the step of acquiring a positional relationship between the sweeper and the intelligent sound according to the sound source signal comprises: :

Acquiring and converting the digital signal converted by the sound source signal;

Performing sound source localization calculation on the digital signal according to a time difference of the smart sound to each of the at least one pair of microphones;

Obtaining a positional relationship between the sweeper and the intelligent sound according to an output result of the sound source localization calculation.
The method for cleaning a smart-audio-assisted sweeper according to claim 1, wherein the acquiring a correspondence between the coordinate information and the first origin to map the environment map to The step of the coordinate information being the second origin of the sweeper field of view map and sent to the sweeper includes:

And mapping the environment map to a vision map of the sweeper with the coordinate information as a second origin according to the corresponding relationship between the acquired coordinate information and the first origin, and performing rotation transformation by a movement change or Euler angle. And sent to the sweeper.
The utility model relates to a method for cleaning the intelligent sound-assisted sweeping machine, characterized in that the intelligent sound is located in the working area of the sweeping machine and establishes a communication connection with the sweeping machine, and the method for assisting the sweeping machine to clean includes:

The sweeping machine receives the work area sent by the smart sound with an environment map where the location of the smart sound is the first origin, wherein the environment map includes a position corresponding to the obstacle area, the uncleaned area, and the cleaned area respectively. ;

Receiving coordinate information of the current sweeper sent by the smart sound on the environment map;

Receiving a correspondence between the coordinate information sent by the smart sound and the first origin;

And mapping the environment map to a sweeper view map with the coordinate information as a second origin according to the corresponding positional relationship.
The method for cleaning a smart-audio-assisted sweeping machine according to claim 7, wherein the sweeping machine receives the working area sent by the smart sound with the location of the smart sound as a first origin The steps of the environmental map include:

Receiving, by the smart sound, the working area, the environment map where the location of the smart sound is the first origin, and the environment map is obtained by an ultrasonic sensor or a lidar sensor disposed on the smart sound;

Receiving pixel values of the corresponding positions of the obstacle area, the unswept area, and the cleaned area on the environment map sent by the smart sound;

Receiving, by the smart sound, the obstacle area, the uncleaned area, and the cleaned area respectively correspond to the area boundary of the position.
A method for cleaning a smart-audio-assisted sweeper according to claim 7, wherein the step of receiving the coordinate information of the current sweeper on the environment map sent by the smart sound comprises:

Sweeping machine is provided with at least one pair of microphones to obtain a sound source signal sent by the smart sound;

Obtaining a positional relationship between the sweeping machine and the intelligent sound according to the sound source signal;

Calculating coordinate information of the current sweeper on the environment map according to the positional relationship, and marking the coordinate information to a corresponding position of the environment map.
A method for cleaning a smart-audio-assisted sweeper according to claim 9, wherein the step of acquiring a positional relationship between the sweeper and the intelligent sound according to the sound source signal comprises :

Converting the sound source signal into a digital signal and storing it;

Performing sound source localization calculation on the digital signal according to a time difference of the smart sound to each of the at least one pair of microphones;

Obtaining a positional relationship between the sweeper and the intelligent sound according to an output result of the sound source localization calculation.
The method for cleaning a smart-audio-assisted sweeper according to claim 7, wherein the mapping the environment map to the sweeper with the coordinate information as a second origin according to the corresponding positional relationship Steps to view the map, including:

According to the correspondence relationship, the environment map is mapped to a sweeper field of view map with the coordinate information as a second origin by performing a rotation transformation or a Euler angle.
The utility model relates to a smart sound-assisted sweeping machine cleaning system, characterized in that: the intelligent sound is located in the working area of the sweeping machine, and establishes a communication connection with the sweeping machine, and the system for assisting the sweeping machine to clean includes:

a first acquisition module, configured to acquire an environment map of the work area with the location of the smart sound as a first origin, wherein the environment map includes an obstacle area, an unswept area, and a cleaned area respectively. position;

a second acquiring module, configured to acquire coordinate information of the current sweeping machine on the environment map;

An execution module, configured to acquire a correspondence between the coordinate information and the first origin, to map the environment map to a vision map of a sweeper with the coordinate information as a second origin, and send the map to the sweeper .
The intelligent sound-assisted sweeping machine cleaning system according to claim 12, wherein the first obtaining module comprises:

a first receiving unit, configured to receive the environment map sent by the ultrasonic sensor or the lidar sensor disposed on the smart sound, and the environment where the smart sound is located as a first origin;

a first acquiring unit, configured to acquire pixel values of the corresponding positions of the obstacle area, the unswept area, and the cleaned area on the environment map;

And a second acquiring unit, configured to acquire, according to each of the pixel values, an area boundary of the corresponding position of the obstacle area, the uncleaned area, and the cleaned area.
The intelligent sound-assisted sweeping machine cleaning system according to claim 12, wherein the second obtaining module comprises:

a first sending unit, configured to send a sound source signal to at least one pair of microphones disposed on the sweeping machine;

a third acquiring unit, configured to acquire a positional relationship between the sweeping machine and the smart sound according to the sound source signal;

The first marking unit is configured to calculate coordinate information of the current sweeper on the environment map according to the positional relationship, and mark the coordinate information in a corresponding position of the environment map.
The intelligent sound-assisted sweeping machine cleaning system according to claim 14, wherein the third acquiring unit comprises:

a first conversion subunit, configured to convert the sound source signal into a digital signal, and store the signal;

a first calculating subunit, configured to perform sound source localization calculation on the digital signal according to a time difference of the smart sound to each of the at least one pair of microphones;

a first obtaining subunit, configured to obtain a positional relationship between the sweeping machine and the smart sound according to an output result of the sound source positioning calculation.