WO2020177281A1

WO2020177281A1 - Cleaning robot and cleaning method

Info

Publication number: WO2020177281A1
Application number: PCT/CN2019/102853
Authority: WO
Inventors: 陈六根
Original assignee: 深圳市银星智能科技股份有限公司
Priority date: 2019-03-04
Filing date: 2019-08-27
Publication date: 2020-09-10
Also published as: CN109875463A

Abstract

Disclosed are a cleaning robot and a cleaning method. The cleaning robot comprises a machine body, a driving wheel mechanism, a cleaning mechanism, a camera module, a wireless communication module, and a control module. The control module is configured to determine whether pictures, photographed by the camera module, of objects include pictures, obtained from a mobile terminal, of an object to be identified, if so, the cleaning robot is controlled to execute preset avoidance behavior according to untouchable identification information bound with the pictures of the object to be identified so as to effectively avoid an object which a user does not want the cleaning robot to touch, the identification rate is improved, and the problem that misjudgment is easily caused is solved.

Description

Cleaning robot and cleaning method

The present invention claims the priority of an earlier application filed with the State Intellectual Property Office of China on March 4, 2019 with the application number 201910161396.0 and the invention title "Cleaning Robot and Its Cleaning Method". The content of the foregoing earlier application is introduced by way of introduction. Incorporated into this text.

Technical field

The invention relates to the technical field of robots, in particular to a cleaning robot and a cleaning method thereof.

Background technique

Cleaning robots such as vacuuming robots, sweeping robots, and mopping robots are increasingly appearing in people's daily life. Faced with various complex working environments, it is very important to recognize objects and avoid obstacles. In practical applications, the application of laser scanning and vision to cleaning robots are two commonly used solutions. For vision solutions, limited by the cost and performance of the processor, deep learning capabilities and other factors, the visual recognition rate is low, which is easy to cause errors. Sentence.

technical problem

The invention aims to solve the problems of low recognition rate of the cleaning robot adopting the vision scheme in the prior art and easy to cause misjudgment, and provides a cleaning robot and a cleaning method thereof.

Technical solutions

In order to solve the above technical problems, the present invention adopts one of the following technical solutions:

A cleaning robot, including:

Machine body

A driving wheel mechanism connected to the machine body and configured to drive the cleaning robot to move on the ground;

A cleaning mechanism connected to the machine body and configured to clean garbage on the ground;

The camera module is configured to take pictures of objects in the area to be cleaned;

The wireless communication module is configured to establish a wireless communication connection with the mobile terminal;

The control module is configured to determine whether the picture of the object taken by the camera module includes the picture of the object to be identified obtained from the mobile terminal, and if so, to control the cleaning robot to perform a preset evasion behavior according to the untouchable identification information; wherein The picture of the object to be identified is a picture obtained by the user operating a mobile terminal, and the non-touchable identification information is information bound to the picture of the object to be identified.

Optionally, the control module is configured to determine the similarity between the picture of the object captured by the camera module and the picture of the object to be identified obtained from the mobile terminal, and when the similarity exceeds a preset similarity threshold, according to The untouchable identification information controls the cleaning robot to perform a preset evasion behavior.

Optionally, the picture of the object to be identified is a picture taken by a user using a camera on the mobile terminal.

Optionally, the picture of the to-be-identified object is a picture loaded by a user from a local gallery and/or downloaded from the Internet using a mobile terminal.

Optionally, controlling the cleaning robot to perform a preset evasive behavior includes: controlling the cleaning robot not to contact the object to be marked, so as to perform cleaning operations in other areas except the object to be marked.

A cleaning robot provided by an embodiment of the present invention includes: a machine body, a driving wheel mechanism, a cleaning mechanism, a camera module, a wireless communication module, and a control module. The control module is configured to determine whether the picture of the object captured by the camera module contains the picture of the object to be identified obtained from the mobile terminal, and if so, it controls the cleaning robot to perform the preset according to the untouchable identification information bound to the picture of the object to be identified The evasive behavior can effectively avoid objects that the user does not want the cleaning robot to touch, improve the recognition rate, and solve the problem of easy misjudgment.

In order to solve the above technical problems, the present invention also adopts the following technical solution:

A cleaning method for cleaning robots, including:

Establish a wireless communication connection with the mobile terminal;

Take pictures of objects in the area to be cleaned through the camera module;

Determining whether the picture of the object taken by the camera module includes the picture of the object to be identified, and if so, controlling the cleaning robot to perform a preset evasive behavior according to the untouchable identification information;

Wherein, the picture of the object to be identified is a picture obtained by a user operating a mobile terminal, and the untouchable identification information is information bound to the picture of the object to be identified.

Optionally, determining whether the picture of the object taken by the camera module includes the picture of the object to be identified, and if so, controlling the cleaning robot to perform a preset evasive behavior according to the untouchable identification information, including:

The similarity between the picture of the object taken by the camera module and the picture of the object to be identified is determined, and when the similarity exceeds a preset similarity threshold, the cleaning robot is controlled to perform a preset evasive behavior according to the untouchable identification information.

An embodiment of the present invention provides a cleaning method for a cleaning robot, including: establishing a wireless communication connection with a mobile terminal, taking a picture of an object in an area to be cleaned through a camera module, and determining whether the picture of the object taken by the camera module contains the object to be identified The picture, according to the untouchable identification information, controls the cleaning robot to execute the preset evasion behavior, which can effectively avoid the objects that the user does not want the cleaning robot to touch, improve the recognition rate, and solve the problem of easy misjudgment.

Beneficial effect

The embodiment of the present invention determines whether the picture of the object taken by the camera module contains the picture of the object to be identified obtained from the mobile terminal, and controls the cleaning robot to perform a preset evasion behavior according to the intangible identification information bound to the picture of the object to be identified, It can effectively avoid objects that the user does not want the cleaning robot to touch, improve the recognition rate, and solve the problem of easy misjudgment.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other modifications can be obtained based on the drawings.

FIG. 1 is a schematic diagram of the bottom structure of a cleaning robot according to an embodiment of the present invention;

Figure 2 is a front view of the cleaning robot in Figure 1;

Figure 3 is a simple schematic diagram of a cleaning robot in an application scenario;

Figure 4 is a functional block diagram of a cleaning robot establishing a wireless communication connection with a mobile terminal;

Fig. 5 is a schematic flowchart of a cleaning method of a cleaning robot according to an embodiment of the present invention.

Embodiments of the invention

The technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

FIG. 1 is a schematic diagram of the bottom structure of a cleaning robot 100 in an embodiment of the present invention, and FIG. 2 is a front view of the cleaning robot 100 in FIG. 1. The cleaning robot 100 includes: a machine body 10, a driving wheel mechanism, a cleaning mechanism 30, a camera module 40, a wireless communication module 50 and a control module 60.

The driving wheel mechanism is connected to the machine body 10, and the driving wheel mechanism can be controlled by the control module 60 to drive the cleaning robot 100 to move on the ground. In the embodiment of the present invention, the driving wheel mechanism is a roller type structure. In other embodiments, the driving wheel mechanism may also be a crawler type structure. The driving wheel mechanism includes a left driving wheel mechanism 210 and a right driving wheel mechanism 220. The left driving wheel mechanism 210 and the right driving wheel mechanism 220 are respectively arranged on the left and right sides of the bottom of the machine body 100. Both the left driving wheel mechanism 210 and the right driving wheel mechanism 220 include motors for driving respective rollers.

In the embodiment of the present invention, the cleaning robot 100 further includes a universal wheel mechanism 70, which is provided on the front side of the bottom of the machine body 10; in other embodiments, for example, the universal wheel mechanism 70 may also be provided On the rear side of the bottom of the machine body 10; for another example, when the cleaning robot 100 includes two universal wheel mechanisms 70, the two universal wheel mechanisms 70 can be respectively provided on the front and rear sides of the bottom of the machine body 10.

The cleaning mechanism 30 can clean the garbage on the ground. In the embodiment of the present invention, the cleaning mechanism 30 includes a roller brush driven by a motor. When the roller brush rotates, the garbage on the ground can be swept into the garbage box 80 of the cleaning robot 100. . In order to improve the cleaning efficiency, the cleaning robot 100 may also include a fan assembly for sucking fine particles of garbage on the ground into the garbage box 80. In other embodiments, the cleaning mechanism 30 may include a mopping component for dry mopping or wet mopping on the ground.

As shown in FIG. 3, the camera module 40 may be arranged at the front of the machine body 10. When the cleaning robot 100 moves on the ground, the camera module 40 can take pictures of objects in the area to be cleaned on the ground. In other embodiments, the camera module 40 can also be provided on the top of the machine body 10, as long as it can take pictures of objects in the area to be cleaned on the ground.

As shown in FIG. 4, the wireless communication module 50 can establish a wireless communication connection with a mobile terminal. The wireless communication module 50 may be any one or more of a wifi communication module, a ZigBee communication module, a Bluetooth communication module, and the like. The mobile terminal can be a smart phone, a tablet computer, a smart remote control, etc.

The control module 60 may include a micro control unit (Microcontroller Unit; MCU), can also include any one or more of CPU, PLC, DSP, SoC, FPGA, etc.

In the embodiment of the present invention, the control module 60 is configured to determine whether the picture of the object captured by the camera module 40 contains the picture of the object to be identified obtained from the mobile terminal, and if so, the cleaning robot 100 is controlled to perform pre-processing according to the untouchable identification information. Set up evasive behavior. Wherein, determining whether the picture of the object taken by the camera module 40 includes the picture of the object to be identified obtained from the mobile terminal may refer to determining whether the picture of the object taken by the camera module 40 has the same or similar picture area as the object to be identified ; Determining whether the picture of the object taken by the camera module 40 contains the picture of the object to be identified obtained from the mobile terminal, or it may refer to determining whether the picture of the object taken by the camera module 40 has a similarity with the object to be identified greater than a certain threshold Or, determining whether the picture of the object taken by the camera module 40 contains the picture of the object to be identified obtained from the mobile terminal may refer to determining whether the picture of the object taken by the camera module 40 is similar to or The same characteristics. Wherein, the picture of the object to be identified is a picture obtained by a user operating a mobile terminal, and the untouchable identification information is information bound to the picture of the object to be identified.

The working environment of the cleaning robot 100 is complex and diverse, such as floor vases, wires, children's toys, etc. on the ground. Users often do not want the cleaning robot 100 to touch these objects. However, the cleaning robot 100 is limited by the cost and performance of the processor. Factors such as deep learning ability cannot be well identified, which can easily cause misjudgments. Therefore, in order to solve this problem, in practical applications, a wireless communication connection between the cleaning robot 100 and a mobile terminal is established, and the user operates the mobile terminal to obtain a picture of an object to be identified, and adds untouchable identification information to the picture of the object to be identified.

The ways to obtain the picture of the object to be identified include but are not limited to the following three: 1. The user uses the camera on the mobile terminal to take a picture of the object to be identified; 2. The user uses the mobile terminal to load the image of the object to be identified from the local gallery; 3. , The user uses the mobile terminal to download the picture of the object to be identified from the Internet.

There are three ways to add untouchable identification information to the picture of the object to be identified, including but not limited to the following three: 1. When the user sends the image of the object to be identified to the cleaning robot 100, the application on the mobile terminal automatically sets the untouchable identification information The information is bound to the picture of the object to be identified; 2. The user operates the application on the mobile terminal to add a label option for the untouchable identification information to the picture of the object to be identified, so that the untouchable identification information is the same as the image of the object to be identified. When the user sends the image of the object to be identified to the cleaning robot 100, the cleaning robot 100 automatically binds the untouchable identification information with the image of the object to be identified.

It should be noted that the object to be identified is an object determined by the user according to his own needs, including but not limited to objects that the cleaning robot 100 does not want to touch, such as floor vases, wires, and children's toys.

The control module 60 can determine whether the picture of the object taken by the camera module 40 contains the picture of the object to be identified obtained from the mobile terminal, and if so, it controls the cleaning robot 100 to perform a preset evasion behavior according to the untouchable identification information.

Specifically, in the embodiment of the present invention, the control module 60 is configured to determine the similarity between the picture of the object captured by the camera module 40 and the picture of the object to be identified obtained from the mobile terminal, and when the similarity exceeds a preset similarity threshold, according to The untouchable identification information controls the cleaning robot 100 to perform preset evasion behaviors. For example, the cleaning robot 100 is controlled not to contact the object to be identified, so as to perform cleaning operations in areas other than the object to be identified, avoiding damage to the floor vase, Problems such as wire entanglement.

A cleaning robot 100 provided in an embodiment of the present invention includes: a machine body 10, a driving wheel mechanism, a cleaning mechanism 30, a camera module 40, a wireless communication module 50, and a control module 60. The control module 60 is configured to determine whether the picture of the object taken by the camera module 40 contains the picture of the object to be identified obtained from the mobile terminal, and if so, it controls the cleaning robot 100 according to the intangible identification information bound to the picture of the object to be identified Performing a preset evasion behavior can effectively avoid objects that the user does not want the cleaning robot 100 to touch, improve the recognition rate, and solve the problem that easily causes misjudgment.

FIG. 5 is a schematic flow chart of a cleaning method of a cleaning robot according to an embodiment of the present invention. The method includes: step S110, step S120, step S130, and step S140.

Step S110 includes: establishing a wireless communication connection with the mobile terminal.

The wireless communication module 50 in the cleaning robot 100 can establish a wireless communication connection with a mobile terminal. The wireless communication module 50 may be any one or more of a wifi communication module, a ZigBee communication module, a Bluetooth communication module, and the like. The mobile terminal can be a smart phone, a tablet computer, a smart remote control, etc.

Step S120 includes: taking a picture of the object in the area to be cleaned through the camera module.

The camera module 40 may be arranged at the front of the machine body 10, and when the cleaning robot 100 moves on the ground, the camera module 40 can take pictures of objects in the area to be cleaned on the ground. In other embodiments, the camera module 40 can also be provided on the top of the machine body 10, as long as it can take pictures of objects in the area to be cleaned on the ground.

Step S130 includes: determining whether the picture of the object taken by the camera module includes the picture of the object to be identified.

Step S140 includes: controlling the cleaning robot to perform a preset evasion behavior according to the untouchable identification information.

In the embodiment of the present invention, if the picture of the object taken by the camera module 40 in step S130 includes the picture of the object to be identified, step S140 is executed. In step S130, if the picture of the object taken by the camera module 40 does not include the picture of the object to be identified, return to step S120. Among them, the marker picture is a picture obtained by the user operating the mobile terminal, and the untouchable marker information is information bound to the picture of the to-be-marked object.

The ways to obtain the picture of the object to be identified include but are not limited to the following three: 1. The user uses the camera on the mobile terminal to take a picture of the object to be identified; 2. The user uses the mobile terminal to load the image of the object to be identified from the local gallery; 3. , The user uses the mobile terminal to download the picture of the object to be identified from the Internet. It should be noted that the object to be identified is an object determined by the user according to his own needs, including but not limited to objects that the cleaning robot 100 does not want to touch, such as floor vases, wires, children's toys, animal feces, etc.

Specifically in the embodiment of the present invention, step S130 and step S140 may include: determining the similarity between the picture of the object captured by the camera module 40 and the picture of the object to be identified obtained from the mobile terminal, when the similarity exceeds a preset similarity threshold , According to the untouchable identification information, the cleaning robot 100 is controlled to perform a preset avoidance behavior. For example, the cleaning robot 100 is controlled not to contact the object to be marked, so as to perform cleaning operations in areas other than the object to be marked, avoiding problems such as damage to the floor vase and entanglement of wires.

In the description of this specification, descriptions with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples" or "an alternative embodiment" etc. mean that descriptions are made in conjunction with the embodiment or the example. Specific features, structures, materials or characteristics are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner.

The above-mentioned embodiments do not constitute a limitation on the protection scope of the technical solution. Any modifications, equivalent replacements and improvements made within the spirit and principles of the above implementation manners should be included in the protection scope of the technical solution.

Industrial applicability

Claims

A cleaning robot is characterized by comprising:

Machine body

A driving wheel mechanism connected to the machine body and configured to drive the cleaning robot to move on the ground;

A cleaning mechanism connected to the machine body and configured to clean garbage on the ground;

The camera module is configured to take pictures of objects in the area to be cleaned;

The wireless communication module is configured to establish a wireless communication connection with the mobile terminal;

The control module is configured to determine whether the picture of the object taken by the camera module includes the picture of the object to be identified obtained from the mobile terminal, and if so, to control the cleaning robot to perform a preset evasion behavior according to the untouchable identification information; wherein The picture of the object to be identified is a picture obtained by the user operating a mobile terminal, and the non-touchable identification information is information bound to the picture of the object to be identified.
The cleaning robot according to claim 1, wherein the control module is configured to determine the similarity between the picture of the object taken by the camera module and the picture of the object to be identified obtained from the mobile terminal, and the similarity is When the degree exceeds the preset similarity threshold, the cleaning robot is controlled to perform a preset evasive behavior according to the untouchable identification information.
The cleaning robot according to claim 1, wherein the picture of the object to be identified is a picture taken by a user using a camera on a mobile terminal.
The cleaning robot according to claim 2, wherein the picture of the object to be identified is a picture taken by a user using a camera on a mobile terminal.
The cleaning robot according to claim 1, wherein the picture of the object to be identified is a picture loaded by a user from a local gallery and/or downloaded from the Internet using a mobile terminal.
The cleaning robot according to claim 2, wherein the picture of the object to be identified is a picture loaded by a user from a local gallery and/or downloaded from the Internet using a mobile terminal.
The cleaning robot according to claim 1, wherein controlling the cleaning robot to perform a preset evasive behavior comprises: controlling the cleaning robot not to contact the object to be identified, so as to perform other than the object to be identified Cleaning operations in other areas.
The cleaning robot according to claim 2, wherein controlling the cleaning robot to perform a preset evasive behavior comprises: controlling the cleaning robot not to contact the object to be identified, so as to perform other than the object to be identified Cleaning operations in other areas.
A cleaning method for a cleaning robot, characterized in that it comprises:

Establish a wireless communication connection with the mobile terminal;

Take pictures of objects in the area to be cleaned through the camera module;

Determining whether the picture of the object taken by the camera module contains the same features as the object to be identified, and if so, controlling the cleaning robot to perform a preset evasive behavior according to the untouchable identification information;

Wherein, the picture of the object to be identified is a picture obtained by a user operating a mobile terminal, and the untouchable identification information is information bound to the picture of the object to be identified.
The method according to claim 9, characterized in that it is determined whether the picture of the object taken by the camera module contains the same features as the object to be identified, and if so, the cleaning robot is controlled to perform presets according to the untouchable identification information Avoidance behavior, including:

The similarity between the picture of the object taken by the camera module and the picture of the object to be identified is determined, and when the similarity exceeds a preset similarity threshold, the cleaning robot is controlled to perform a preset evasive behavior according to the untouchable identification information.
The method according to claim 9, wherein the picture of the object to be identified is a picture taken by a user using a camera on a mobile terminal.
The method according to claim 10, wherein the picture of the object to be identified is a picture taken by a user using a camera on a mobile terminal.
The method according to claim 9, wherein the picture of the object to be identified is a picture loaded by a user from a local gallery and/or downloaded from the Internet using a mobile terminal.
The method according to claim 10, characterized in that the picture of the object to be identified is a picture loaded by a user from a local gallery and/or downloaded from the Internet using a mobile terminal.
The method according to claim 9, wherein controlling the cleaning robot to perform a preset evasive behavior comprises: controlling the cleaning robot not to contact the object to be identified, so as to perform other than the object to be identified Area cleaning operation.
The method according to claim 10, wherein controlling the cleaning robot to perform a preset evasive behavior comprises: controlling the cleaning robot not to contact the object to be identified, so as to perform other than the object to be identified Area cleaning operation.
A cleaning method for a cleaning robot, characterized in that it comprises:

Establish a wireless communication connection with the mobile terminal;

Take pictures of objects in the area to be cleaned through the camera module;

Determining whether the picture of the object taken by the camera module includes the picture of the object to be identified, and if so, controlling the cleaning robot to perform a preset evasive behavior according to the untouchable identification information;

Wherein, the picture of the object to be identified is a picture obtained by a user operating a mobile terminal, and the untouchable identification information is information bound to the picture of the object to be identified.
The method according to claim 17, wherein it is determined whether the picture of the object taken by the camera module contains the picture of the object to be identified, and if so, the cleaning robot is controlled to perform a preset evasive behavior according to the untouchable identification information ,include:

The similarity between the picture of the object taken by the camera module and the picture of the object to be identified is determined, and when the similarity exceeds a preset similarity threshold, the cleaning robot is controlled to perform a preset evasive behavior according to the untouchable identification information.