CN105829985A - 具有周边记录功能的机器人清洁设备 - Google Patents
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Abstract
本发明涉及一种机器人清洁设备,该机器人清洁设备包括主体(2)、被配置为清洁相关区域(28)的地板的清洁部分(12)、被配置为使机器人清洁设备(1)在该区域的表面上移动的推挤***(7,8)。机器人清洁设备(1)可以进一步包括障碍物检测设备和处理单元(20),处理单元(20)被配置为控制推进***(8),其中,该障碍物检测设备被配置为监视区域(28)的至少一部分的周边(30,30’),并且在物体(34)沿周边(30,30’)移动时跟随并连续记录该物体的位置;并且其中,该处理单元(20)被配置为从这些连续记录的位置创建该周边(30,30’)的位置数据。
Description
技术领域
本发明涉及一种机器人清洁设备以及一种给机器人清洁设备教导区域的至少一部分的周边的方法。
背景
现有技术中,机器人真空吸尘器是已知的。通常,机器人真空吸尘器装备有呈电机形式的驱动装置,以便在待清洁的表面上移动吸尘器。机器人真空吸尘器进一步装备有呈用于引起自主行为的微处理器和导航装置形式的智能,从而使得机器人真空吸尘器能够自由地来回移动并且清洁呈例如房间形式的空间或区域。
在许多技术领域中,希望使用具有自主行为的机器人,从而使得它们可以在空间周围自由地移动而不与限制房间的周边的可能的障碍物或墙壁等碰撞。
举例而言,具有或多或少地自主地对其中具有家具例如桌椅以及其他障碍物例如墙和楼梯的房间进行真空吸尘的能力的机器人真空吸尘器在本领域中是存在的。传统地,这些机器人真空吸尘器通过使用例如超声波或光波或激光束在房间内导航。超声波、光波或激光束这些手段能够使机器人真空吸尘器看见并避免直接推进到墙壁和其他障碍物中。进一步地,这些机器人真空吸尘器通常必须补充带有额外的传感器,如楼梯传感器、墙壁追踪传感器和各种应答器以准确执行操作。这种传感器是昂贵的并且影响机器人的可靠性。另一种方式可以是如从机器人割草机已知的安装边界或周边标志。然而,这是繁琐的,并且在使用者使用机器人真空吸尘器之前需要一些时间。
大量现有技术机器人真空吸尘器使用了一种被称为同时定位与地图构建(SLAM)的技术。SLAM涉及的问题是构建移动机器人真空吸尘器的未知环境的地图而同时使用该地图在该环境中导航。在一些情况下,这与用于距离测量的水平扫描激光器相组合。另外,使用测程法来提供机器人的大致位置,如通过机器人的轮子的移动所测量的。SLAM和测程法的组合导致机器人真空吸尘器适应并学习它在其中操作的房间或区域的过程繁琐且漫长。因此,最初几个清洁方法可能耗费较长时间,包括相当低效,如从房间的一条边缘到另一个边缘而没有应该如何进行清洁过程的太多计划。此外,可能发生双清洁移动,这意味着在同一清洁过程中将某些区域清洁两次。
US2002/0091466披露了一种移动式机器人,该移动式机器人具有指向房间天花板以便识别该天花板上的基础标志的第一相机以及用于朝向障碍物发出线性光束的线激光器、用于识别来自该障碍物的反射线性光束的第二相机。这个线激光器发出直线形式的在该移动式机器人的前方水平地延伸的光束。
通常,使用天花板上的基础标志和天花板上的标记存在某些缺点。首先,机器人需要具有两个相机,其中至少一个相机朝向天花板向上“看”,而另一个相机朝移动方向、并因此朝着来自水平线激光器的激光束的方向看。这在建造机器人时是昂贵且复杂的。进一步地,使用者不得不使用椅子或梯子将至少一个基础标志定位在天花板上。
此外,在US2002/0091466中披露的机器人使用天花板上的基础标志来确定其位置并因此用以地图构建,并且其需要天花板标记的帮助来实现有效的清洁模式和有效的清洁过程。此外,在房间或区域很大的情况下,使用者可能不得不在天花板上安装多于一个的基础标志,从而使机器人不会迷路。
在上述现有技术中描述的机器人因此就不像它可能的那样自主,并且其至少具有提到的缺点。
发明内容
考虑到以上提到的缺点,本发明的目的是提供一种自主且有效的机器人清洁设备。
另外一个目的是提供一种能够直观地并以简单的方式设置的机器人清洁设备。
本发明的另一个目的是提供一种经济的机器人清洁设备。
本发明的另一个目的是提供一种方法,该方法方便该机器人清洁设备的安装和启动阶段。
本文中披露了一种给机器人清洁设备教导相关区域的周边的方法,该方法包括以下步骤:定位该机器人清洁设备,从而使得该机器人清洁设备的障碍物检测设备能够监视该区域的至少一部分;控制该机器人清洁设备的障碍物检测设备,以便当物体沿该区域的至少一部分的周边移动时跟随并连续记录该物体的位置;并且从该物***置的连续记录创建该周边的位置数据。
该方法具有的优点在于使用者可以直观地设置该机器人清洁设备。
该区域可以被标记为“清洁这个区域”、“每次清洁这个区域”、“每两次清洁这个区域”、“一周清洁这个区域一次”和/或“不清洁这个区域”。例如,可以经由使用者界面向该机器人清洁设备相应地传送指令。
例如,在厚地毯放置在该区域内的情况下,使用者可以教导机器人清洁设备不清洁该地毯,以避免被卡住。另一方面,关于厨房,使用者可以设置指令“一天清洁一次”,因为厨房可能比其他分区或区域更脏。
另外,在区域的布局例如由于家具的移动已经改变的情况下,使用者可以给该机器人清洁设备教导“新”区域或位置数据,并由此重新设置“旧”区域的位置数据。
可以经由界面等将机器人清洁设备放到教导模式,以记录该区域或该区域的至少一部分的周边。在位置数据的记录和创建完成之后,机器人清洁设备可以切换到清洁模式,在该清洁模式下,其被配置为清洁该区域的至少一部分的表面。可以通过经由使用者界面向机器人清洁设备确认这个来完成该教导阶段。
一旦机器人清洁设备开始清洁过程,它就可以开始从起点高效地移动,因为由于记录的周边地图,它现在知道该区域及其周边。
该方法的另一步骤可以包括例如经由使用者界面将机器人清洁设备切换到清洁模式的步骤。
切换到清洁模式可以帮助使用者更好地与机器人清洁设备通信。其可以使机器人清洁设备清楚什么时候应该做什么并明确区分教导阶段和清洁阶段。
可以对另一周边执行该方法的上述步骤,并且之后,这些记录的周边可以被组合,并且可以从这些组合的周边创建位置数据,如区域的地图、布局或平面图。
当区域很大或当区域很复杂并包括多个边缘和拐角时,这可能是有用的。
因此,有待清洁的区域可以被分成多个子区域。
可替代地,该区域本身可以形成一更大表面的一个子区域。
可以对不同的周边重复以上提到的步骤,直到覆盖整个区域,并且可以生成整个区域的位置数据。
因此,可以以一种灵活且通用的方式来使用机器人清洁设备。
在记录了这些周边并创建位置数据之后,可以经由机器人清洁设备的使用者界面来标记地图。
机器人清洁设备可以被配置为组合并记住不同区域的各个地图,并且因此,这些地图可以被命名为例如“走廊”或“厨房”或“客厅”等。
本文中进一步披露了一种机器人清洁设备,该机器人清洁设备包括主体、清洁部分、推进***以及障碍物检测设备,该清洁部分被配置为清洁相关区域的地板,该推进***被配置为该机器人清洁设备在相关区域上移动,该障碍物检测设备包括处理单元。该处理单元可以被配置为控制该推进***,其中,该定位***被配置为监视该区域的至少一部分的周边,并且在物体沿有待清洁的周边移动时跟随并连续记录该物体的位置。此外,该处理单元可以被配置为从这些连续记录的位置创建该周边的位置数据。
这种机器人清洁设备容易设置,它从第一清洁操作或过程快速且高效工作,并且它使使用者简化处理。此外,这可以允许直观地设置机器人清洁设备。
障碍物检测设备可以呈3D传感器***的形式被实施。
3D传感器***可以呈相机***、3D相机***、红外(IR)传感器和/或声呐传感器、微波雷达、激光扫描仪等的形式被实施,用于检测障碍物并且将关于任何检测到的障碍物的信息传达到处理单元。
如上所述的机器人清洁设备可以从开始就高效地操作,而在这样做的同时无需它学***面图)的长时间阶段。
障碍物检测设备可以包括3D传感器***。
3D传感器***可以包括相机设备以及第一和第二竖直线激光器,该相机设备安排为记录机器人清洁设备附近的图像,该第一和第二竖直线激光器安排为照亮该机器人清洁设备的所述附近。该处理单元可以被进一步安排为从这些记录的图像获取位置数据。
相机设备和3D传感器***分别有助于识别移动物体并允许跟踪它。相机设备可以被配置为每秒钟拍摄多张图像,以便相机***容易跟踪该移动物体。
移动物体可以以0.5m/s至2.5m/s的速度移动。
从这些图像可以获取具体特征,以确定移动物体的确切位置并经由3D传感器***创建该周边的位置数据。
处理单元可以被配置为例如经由合适的计算机程序产品从这些图像提取所述特征。
线激光器可以提高相机设备拍摄的图像的质量,因此他们改进移动物体的位置连续记录的结果。
在实施例中,处理单元可以被配置为控制该推进***,其方式为当该障碍物检测设备在观察沿该周边移动的物体时,该机器人清洁设备或多或少地在该点上转动。
机器人清洁设备可以因此在该教导阶段不到处驱动;它可以稳定地定位,但具有转动的能力,以跟踪移动物体。线激光器可以是竖直线激光器。机器人清洁设备被配置为是静止的。
替代转动的机器人清洁设备,定位***和障碍物检测设备可以优选地以可旋转的方式连接到机器人清洁设备的主体的顶部,从而使得它可以在机器人清洁设备的主体是静止时,通过旋转观察沿周边移动的物体。
因此,有可能相应地为机器人清洁设备提供可旋转的定位***和障碍物检测设备,从而使得可以跟踪移动物体。
在实施例中,机器人清洁设备可以包括用于与使用者通信的使用者界面。
使用者界面可以改进使用者与机器人清洁设备之间的通信。
该移动物体可以是使用者自己。
为了可识别,使用者可以穿戴一件特殊的衣服,如反光背心等等。
这使教导阶段更加直观。
移动物体可以是标记,如反射镜或发送设备,其可以在使用者沿该周边行走时被使用者携带。
该发送设备可以是适合于与该机器人清洁设备的接收器建立通信的超声波设备、无线电设备、红外设备或任何其他设备。
在使用发送设备的情况下,接收器可以安装在机器人清洁设备中,所述接收器连接到处理单元上。
本发明的另外一方面涉及一种计算机程序,该计算机程序包括计算机可执行指令,当在该处理单元上执行这些计算机可执行指令时,这些计算机可执行指令使机器人清洁设备执行上述步骤。
本发明的另一方面涉及一种计算机程序产品,该计算机程序产品包括计算机可读存储介质,该计算机可读存储介质包括存储在其中的计算机程序。
总的来说,除非另有明确定义,在权利要求中所使用的所有术语是根据它们在技术领域中的普通含义来解释的。除非另有明确声明,所有引用的“一/一个/元件、装置、部件、手段、步骤等”是如参考该元件、装置、部件、手段、步骤等中的至少一个实例开放性解释的。除非明确声明,本文中披露的任何方法的步骤不必完全按照所披露的顺序执行。
附图简要说明
现在将以举例方式通过参考附图来描述本发明,在附图中:
图1示意性地示出了根据本发明的机器人清洁设备的实施例的透视图;
图2示意性地展示了根据本发明的机器人清洁设备的自底向上的视图;
图3示意性地示出了根据本发明的机器人清洁设备监视区域的周边;
图4示意性地展示了与图3相似的视图,展示定位在另一区域中的根据本发明的机器人清洁设备;
图5示意性地展示了与图3和图4相似的视图,展示了定位在另外一个区域中的根据本发明的机器人清洁设备;并且
图6展示了根据本发明的一种方法的流程图。
详细说明
现在将参照这些附图在下文中更全面地描述本发明,在附图中示出了本发明的某些实施例。然而本发明可以采用许多不同的形式来实施,并且不限制于在此阐述的实施例;而是,这些实施例是以举例方式提供的,这样使得本披露将变得全面和完整,并且将向本领域技术人员充分地表达本发明的范围。贯穿本说明书,相同的数字指代相同的元件。
本发明涉及机器人清洁设备,或者换言之,涉及用于清洁表面的自动自推进机器,例如,机器人真空吸尘器或机器人地板清洗器或拖把。根据本发明的机器人清洁设备1能够用市电操作并且具有电绳、能够用电池操作或用电池供电或者使用任何其他种类的合适能源,例如,太阳能。
现在参考附图,具体是图1和图2,展示了包括主体2和定位***4的机器人清洁设备1的示例性实施例。主体2包括推进***7、8和清洁构件10,该清洁构件具有嘴口元件、清洁开口或清洁部分11。定位***4包括第一竖直线激光器12和第二竖直线激光器14、障碍物检测设备、处理单元20和使用者界面24。如图1所示,处理单元20包括存储介质22,该存储介质具有计算机程序产品25。
障碍物检测设备可以呈3D传感器***15的形式被实施,该传感器***包括第一和第二竖直线激光器12、14。
3D传感器***可以呈激光扫描仪、相机、雷达、3D相机***、与线激光器组合的相机、红外扫描仪等形式被实施。
图1展示了安装在机器人清洁设备1的主体2顶上的定位***4。在这种情况下,定位***4固定地安装到主体2上,从而使得3D传感器***15总体上看向机器人清洁设备的前进方向(见图2)。替代地,定位***4可以可旋转地安装在主体2上(见图5)。这可能需要驱动机构,该驱动机构被配置为驱动定位***4旋转(顺时针和逆时针)。该驱动机构可以分别连接到处理单元20和控制装置上,因为处理单元20或控制装置可以驱动定位***4的旋转移动。定位***4还可以包括用于改善机器人清洁设备1与使用者之间的通信的使用者界面24。
关于图1,为了说明目的,相应地,障碍物检测设备和定位***4和3D传感器***15与机器人清洁设备1的主体2分开。然而,在实际实现方式中,3D传感器***15可能与机器人清洁设备1的主体2形成为一体,以使机器人清洁设备2的高度最小化,由此允许它在诸如(例如)沙发的障碍物下面穿过。
如图2中最佳展示的,机器人清洁设备1的推进***7、8可以包括驱动机构7、驱动装置8和驱动轮36、38。驱动轮36、38可以被配置为经由驱动装置8的驱动器9、9’彼此独立地移动。每个驱动轮36、38可以包括驱动器9、9’。驱动装置8和因此两个驱动器9、9’可以连接到处理单元20或控制装置上。每个驱动器9、9’可以进一步包括用于相应驱动轮36、38和齿轮箱的悬架。
替代地,推进***7、8可以呈履带***、胡佛工艺***或如所示的包括驱动器9、9’和驱动轮36、38的驱动装置8的形式被实施。
进一步参考图1,以一个或多个微处理器形式实施的处理单元20被安排成执行被下载到与该微处理器相关联的合适存储介质22中的计算机程序25,诸如随机存取存储器(RAM)、快闪存储器或硬盘驱动器。处理单元20被安排成在包含计算机可执行指令的适当计算机程序25被下载至存储介质22并且被处理单元20执行时实施根据本发明的实施例的方法。存储介质22还可以是包括计算机程序25的一种计算机程序产品。替代地,计算机程序25可以通过合适的计算机程序产品(诸如数字通用光盘(DVD)、光盘(CD)或记忆棒)来传递至存储介质22。作为另外一个替代方案,计算机程序25可以通过网络下载至存储介质22。处理单元20可以替代地以数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)、复杂可编程逻辑器件(CPLD)的形式被实施。
图2展示了机器人清洁设备1的可能的形状中的一种形状。这种形状可以提高机器人到达角落和边缘的能力。这个机器人清洁设备的主体2具有带前端边缘17的前端部分13、后端部分48、连接前端边缘17和后端部分48的右侧边缘44以及连接前端边缘17与后端部分48的左侧边缘46。机器人清洁设备1的主体2的前端部分13是主体2的位于传动轴40与前端边缘17之间的部分。前端部分13实质上可以是四边形形状,可能具有略微修圆的拐角,这些拐角处,前端边缘17分别与右侧边缘44和左侧边缘46交汇。如图2中所示,前端边缘17是平坦/直的或者稍微弯曲的,以便深入角落中。
具有圆的或圆形形状的其他类型的机器人清洁设备也可以被配置为根据本发明执行或操作。
前端部分13可以另外包括缓冲器(未示出)。该缓冲器可以被配置为是可替换的。
旋转刷子(未示出)可以安排在主体2的突出部分上。该旋转刷子可以旋转,以使碎屑朝向清洁构件11的开口11或嘴口元件移动。该刷子可以配置并定位在该突出构件上,从而使得它在主体2的边缘和/或缓冲器上延伸。
清洁部分10可以进一步包括嘴口或开口和抽风机,该抽风机将碎屑从清洁部分11吸入到碎屑容器中。
可替代地,清洁部分11可以是扫刷或地板拖把。
图6展示了依照根据本发明的机器人清洁设备执行的根据本发明的方法的方法步骤。该方法涉及教导区域28的一个周边30或多个周边30、30’或区域的至少一部分。机器人清洁设备1可以被定位S01,从而使得它可以观察或监视有待清洁的区域28的至少一部分。这可以分别在区域28和周边30、30’之内或之外。机器人清洁设备1可以被配置为将自己自动定位为使得它可以监视周边30、30’,或可替代地,它可以被使用者相应地定位。可以经由障碍物检测设备/3D传感器***15以及第一和第二竖直线激光器12、14由定位***4来执行监视。3D传感器***可以包括被配置为记录被竖直线激光器12、14照亮的图像的相机设备18。在定位之后,定位***4和障碍物检测设备可以分别被控制S02成在物体34沿有待清洁的区域28的至少一部分的周边30移动时跟随并连续记录该物体的位置。处理单元20和存储介质22可以被配置为存储连续测量的位置并且从移动为题34的位置的连续记录中创建S03地图。
该方法可以可选地包括第一决策器42,在该第一决策器处,确定定位***4和障碍物检测设备和因此3D传感器***是否应分别记录另一周边30’或记录是否完成。
当记录完成时,使用者可以经由安排置在机器人清洁设备1的主体2上的使用者界面24向机器人清洁设备确认此内容。可替代地,如在本文后面披露的,机器人清洁设备1可以自动生成此确认。在确认之后,处理单元20然后可以基于移动物体34的记录位置生成地图。
可替代地,在继续记录S03a的情况下,重复定位S01、控制S02和创建S03的步骤,直到覆盖整个有待清洁的区域28。当记录完成时,使用者可以向机器人清洁设备1进行确认,并且机器人清洁设备1可以然后组合这些记录的地图,以生成整个区域28的地图。当构建大的有待清洁的区域28的地图时,这可能是有用的。
使用界面24可以容易设置机器人清洁设备1,然而,没有必要执行本发明。可以应用使用者与机器人清洁设备1之间的其他通信手段,如视觉符号等等。
移动物体34可以例如是使用者他/她自己、使用者所携带的反射镜或发送设备,诸如红外或无线电发送器。为了提高使用者的识别,她/他可以穿戴反光背心等等。
机器人清洁设备1可以具有两种操作模式:教导模式和清洁模式,在教导模式下,机器人清洁设备1学习周边30、30’并且生成周边30、30’以及最后有待清洁的区域28的地图,在清洁模式下,它被配置为清洁区域28。然而,这些模式对执行根据本发明的方法不是至关重要的。它们可以用来改进使用者与机器人清洁设备1之间的通信,并且为了提高净度或为了在机器人清洁设备1的两种操作模式之间明确区分。
使用者界面24可以另地用来键入不同的记录区域28的名称,诸如(例如)“厨房”、“浴室”或“洗衣房”。可以在如图6所示的,确认S04记录完成之后,进行区域28的命名。
现在参见图3至图5,展示了有待清洁的各个区域28。在图3至图5所示的实例中,当移动物体34沿展示了周边30的虚线移动时,机器人清洁设备1连续地记录移动物体的位置。
现在参见图3,下面解释有待清洁的相对简单的区域28的记录和教导。机器人清洁设备1定位在区域28的一个区中,从该区开始,它可以观察并监视整个周边30。在图3中,周边30大于或小于区域28的边界。机器人清洁设备1可以被配置为在跟随移动物体34时使它自己自动定位。优选地,机器人清洁设备1在该点上转动,然而,在控制和记录S02期间小移动是可以的,并且也在本发明的范围内。
移动物体34最初安排在机器人清洁设备1的定位***4的3D传感器***15的视角内。因为包括相机设备18的障碍物检测设备和3D传感器***15被配置为每秒钟拍摄多张照片,所以处理单元20可以快速地生成对推进***7、8的命令,如此快以至于当定位***4和障碍物检测设备分别可旋转地安装在主体2上时,定位***4和障碍物检测设备能够分别跟随移动物体34沿周边30的移动路线。移动物体34朝逆时针方向A沿周边30行走,并且因此机器人清洁设备1、障碍物检测设备和定位***4分别朝相同的方向B(即,逆时针方向)旋转或转动。可替代地,移动物体34可以沿周边30、30’顺时针移动,障碍物检测设备和定位***4或机器人清洁设备1可以相应地顺时针旋转或转动。
机器人清洁设备1和处理单元20可以分别被配置为自动识别移动物体34什么时候沿周边30完成一圈,从而使得它可以自动停止位置的连续记录并生成周边30的地图。
机器人清洁设备1可以被定位或自己定位在有待记录的区域28或周边30、30’之内或有待记录的区域28或周边30、30’之外。主要标准是障碍物检测设备、3D传感器***15以及因此相机设备18和第一与第二线激光器12、14可以至少或多或少地看见区域28的整个周边30。图3和图4中的虚线分别说明性地示出了障碍物检测设备和3D传感器***15的视角。
可以通过执行一次步骤S01至S03来记录图3中所示的区域28并构建其地图,从而使得移动物体34沿周边30绕一圈一完成就可以将位置的连续记录的确认给到机器人清洁设备。
图4展示了具有与图3中所示的一个区域不同的布局的有待清洁的更大区域28。在根据图4的区域28中,当假设区域28的外边界是房子的墙壁等等时,障碍物检测设备和3D传感器***15分别不能从区域28之内或之外的单点看见整个区域28。由于这个原因,必须重复定位S01机器人清洁设备1、控制S02定位***4和创建S03地图的方法步骤,由此在此特殊情况下,机器人清洁设备1必须从点D到点C改变位置,因为从这两个点D、C,它可以观察并监视整个区域28。因此,在这种情况下,机器人清洁设备1将确定记录还没完成42,并且继续对另一周边30’重复方法步骤S01至S03。在这样做之前,如果机器人清洁设备1从当前记录点D到新的记录点C的转移是必要的(见图6),则将需要第二决策器44。在图4所示的实例中,处理单元20将基于由相机设备18拍摄的图像确定沿转移路线36的转移是必要的,以记录另一周边30’,用于构建整个区域28的周边30、30’的地图。转移路线36在记录的第一点D与记录的第二点C之间延伸。为了以后组合生成的地图,处理单元20和存储介质22必须分别记忆并存储转移路线36。为了以后从记录的地图中生成一个组合地图,将需要诸如转移路线36的长度和方向的信息。
当机器人清洁设备1到达第二记录点C时,它自己定位自己并针对另一周边30’相应地执行步骤S01至S03。一旦完成这个,就组合两个周边的两张生成的地图,并且生成整个区域的地图。在生成整个区域28的地图的同时,可以通过处理单元20及其计算机程序25删除被用作两个周边30、30’之间的假想边界的边界线32。可替代地,可以保留这条边界线32,并且机器人清洁设备1可以按两个阶段清洁整个区域28,首先是一个周边30然后是另一个周边30’。
根据区域28的大小和区域28之内固定障碍物的数量,可能存在多于两个的周边30、30’。如有必要,区域28可以分成许多个周边。这种分割(或如果分割是必要的)可以或者由使用者来决定或者由机器人清洁设备1来决定。甚至可以让机器人清洗设备1给使用者提供移动物体34要做什么以及接下来移动到哪里的指令。
图5展示了与图3类似的区域28,但是这次,区域28被分成了两个周边30、30’。在这种情况下,机器人清洁设备1不必在步骤S01至S03的记录或执行之间从第一点D移动到第二点C,因为它可以从各个点或区监视整个区域28。在图5中,进一步指出,机器人清洁设备1的定位***4和3D传感器***15能够旋转,以跟随移动物体34,而在图3和图4中,是整个机器人清洁设备1例如通过朝相反方向旋转轮36、38来转动或旋转。定位***4和3D传感器***15或障碍物检测设备因此跟随移动物体34,同时它沿周边30、30’移动,由此机器人清洁设备1的主体2保持空闲。
此外,在已经记录第一周边30之后,机器人清洁设备1生成确认,因为它将认识到在已经完成沿周边30绕一圈之后,连续记录的位置是重叠的。
该确认可以可替代地经由使用者界面24由使用者手动完成。
当两个周边30、30组合以生成整个区域28的地图时,也可以通过处理单元20和计算机程序25来删除如图5中所示的边界线32。
处理单元20和存储介质22可以被配置为存储和记忆例如公寓或房子的各个区域28的各个地图。
以上已参考一些实施例主要描述了本发明。然而,本领域技术人员容易了解的是,除以上披露的实施例之外的其他实施例在由所附专利权利要求书限定的本发明的范围内同样是可能的。
Claims (17)
1.一种给机器人清洁设备(1)教导相关区域(28)的周边(30)的方法,该方法包括以下步骤:
-定位(S01)该机器人清洁设备(1),从而使得该机器人清洁设备(1)的障碍物检测设备能够监视该区域(28)的至少一部分;
-控制(S02)该机器人清洁设备(1)的该障碍物检测设备,从而在物体(34)沿该相关区域(28)的周边(30)移动时,跟随并连续地记录该物体(34)的位置;并且
-从该物体(34)的位置的连续记录创建(S03)该周边(30)的位置数据。
2.根据权利要求1所述的方法,进一步包括通过经由使用者界面(24)发送完成该教导的信号来完成该教导的步骤,该使用者界面向该机器人清洁设备指示完成了对该周边(30)的记录。
3.根据权利要求1或2所述的方法,进一步包括经由该使用者界面(24)将该机器人清洁设备(1)切换到清洁模式的步骤。
4.根据权利要求1至3中任一项所述的方法,进一步包括对另一个周边(30’)执行如根据权利要求1所述的步骤(S03a),组合所记录的周边(30,30’)并且从这些位置的连续记录创建所组合的记录周边(30,30’)的位置数据。
5.根据前述权利要求4所述的方法,其中,根据需要重复如权利要求4所述的步骤多次,以覆盖该整个区域(28)。
6.根据权利要求1至5中任一项所述的方法,包括经由该使用者界面(24)对该周边(30,30’)的位置数据加标签的步骤。
7.一种机器人清洁设备,包括:
-主体(2);
-清洁部分(12),该清洁部分被配置为清洁相关区域(28)的地板;
-推进***(8),该推进***被配置为使该机器人清洁设备(1)在该区域(28)的表面上移动;
-障碍物检测设备,该障碍物检测设备包括处理单元(20),该处理单元(20)被配置为控制该推进***(8);
其特征在于,该障碍物检测设备被配置为监视该区域(28)的周边(30,30’),并且在物体(34)沿该周边(30,30’)移动时跟随并连续记录该物体的位置;并且其中,该处理单元(20)被配置为从这些连续记录的位置创建该周边(30,30’)的位置数据。
8.根据权利要求7所述的机器人清洁设备,其中,该障碍物检测设备包括3D传感器***(15)。
9.根据权利要求8所述的机器人清洁设备,其中,所述3D传感器***(15)包括:
-相机设备(18),该相机设备被安排为记录该机器人清洁设备的附近的图像;以及
-第一和第二竖直线激光器(12,14),该第一和第二竖直线激光器被安排为照亮该机器人清洁设备的所述附近;
-该处理单元(20)被进一步安排为从这些记录的图像获取位置数据。
10.根据权利要求9所述的机器人清洁设备,其中,该处理单元(20)从这些图像获取特征,以便创建该周边(30,30’)的位置数据。
11.根据权利要求7至10中任一项所述的机器人清洁设备,其中,该处理单元(20)被配置为控制该推进***(8),其方式为当该障碍物检测设备在观察沿该周边(30,30’)移动的物体(34)时,该机器人清洁设备(1)或多或少地在该点上转动。
12.根据权利要求7至10中任一项所述的机器人清洁设备,其中,该障碍物检测设备以一种可旋转的方式连接到该机器人清洁设备(1)的该主体(2)上,从而使得它能够在该机器人清洁设备(1)静止时通过旋转来观察沿该周边(30,30’)移动的该物体(34)。
13.根据前述权利要求中任一项所述的机器人清洁设备,包括用于与使用者通信的使用者界面(24)。
14.根据前述权利要求中任一项所述的机器人清洁设备,其中,该移动物体(34)是使用者。
15.根据前述权利要求7至13所述的机器人清洁设备,其中,该移动物体(34)是标记,如反射镜或发送设备,所述标记或发送设备在使用者沿该周边(30,30’)行走时被她/他携带。
16.一种计算机程序(25),包括多个计算机可执行指令,这些计算机可执行指令用于当在包括在机器人清洁设备(1)中的处理单元(20)上执行这些计算机可执行指令时致使该设备执行如权利要求1至6中任一项所述的步骤。
17.一种计算机程序产品,包括计算机可读存储介质(22),该计算机可读存储介质(22)具有在其中实施的根据权利要求16所述的计算机程序(25)。
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EP3084538A1 (en) | 2016-10-26 |
KR20160100315A (ko) | 2016-08-23 |
JP2017501472A (ja) | 2017-01-12 |
US9811089B2 (en) | 2017-11-07 |
US20160306359A1 (en) | 2016-10-20 |
KR102124235B1 (ko) | 2020-06-24 |
CN105829985B (zh) | 2020-04-07 |
EP3084538B1 (en) | 2017-11-01 |
WO2015090402A1 (en) | 2015-06-25 |
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