CN106415423B - 用于检测机器人清洁装置的测量误差的方法 - Google Patents
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Abstract
本发明涉及机器人清洁装置(10,10’),该机器人清洁装置包括:主体(11);推进***(12,13,15a,15b);接触检测部(32),该接触检测部连接至该主体(11)上;航位推算传感器(30,30’),该航位推算传感器操作性地连接至该推进***上;以及障碍物检测装置,该障碍物检测装置包括被安排成在该主体上、彼此相距一定距离的相机(23)和第一结构光源(27)。该机器人清洁装置可以另外包括被安排成用于控制该推进***的处理单元(16)。该障碍物检测装置和该处理单元被安排成用于估计与该地标的距离(DC),并且随后使该机器人清洁装置移动至与该地标相接触而同时测量与该地标的实际距离(DA),由此接着将该实际距离与该距离进行比较以便检测测量误差。
Description
技术领域
本发明涉及一种机器人清洁装置以及一种用于该机器人清洁装置的、检测该机器人清洁装置的障碍物检测装置中的测量误差的方法。
发明背景
在许多技术领域中,希望使用具有自主行为的机器人,使得它们可以在空间内四处自由移动而不与可能的障碍物碰撞。
机器人真空吸尘器在本领域是已知的并且通常装备有呈一个或多个电机形式的驱动装置用于使该吸尘器在待清洁的表面上移动。机器人真空吸尘器另外配备有呈用于引起自主行为的一个或多个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例如呈房间的形式的空间。因此,这些现有技术机器人真空吸尘器具有或多或少地自主地对其中具有家具(如桌椅)以及其他障碍物(如墙壁和楼梯)的房间进行真空吸尘的能力。这些机器人真空吸尘器通过使用结构光(例如,像线激光束)在房间内导航,以便照亮有待检测的障碍物并且将从这些障碍物直接反射的激光返回引向该吸尘器,从而确定这些障碍物位于房间内的什么地方。该机器人清洁装置的障碍物检测装置的相机连续地捕捉图像,并且通过在所捕捉图像中检测直接反射的激光线、并且基于该吸尘器的已知位置使用三角函数可以估计出距离所照亮的障碍物(例如墙壁或地板)的距离,这样使得随后可以创建该房间相对于该机器人吸尘器的3D表示。为了检测与所照亮物体的距离,通常将结构光源安排在离该机器人吸尘器上的相机等已知距离处(所谓的基线)。此外,优选地将结构光源安排为具有已知角度以确保该结构光源的反射光线处于相机的视野内。
为了计算或估计机器人吸尘器与物体/地标之间的距离,使用了三角公式或算法,如以上所提及的。在这些算法中,使用了结构光源所安排在的已知角度的值的固定参数以及基线长度的另外固定参数。这些参数通常是通过在每个机器人吸尘器的生产之后在工厂内进行测试而确定的。替代地,这些参数可以在生产过程中在包括该算法的处理单元中预先设定。
问题在于,该基线的实际长度和/或该结构光源所安排在的实际角度可能由于该机器人吸尘器内的温度变化(由于例如运输过程中的振动)、该结构光源所嵌入其中的材料的变化等而随着时间变化。具体而言,该结构光源所安排在的实际角度的变化在使用障碍物检测装置和三角函数算法来估计距离时可能出现误差。所以,使用相机和结构光源所执行的测量在一些情况下是不准确的或者它们可能随时间而变化。在这样的情况下,需要检查并验证该机器人吸尘器,使得可以校准/调整这些参数。
发明内容
本发明的目的是提供一种被配置成用于检测分别在障碍物检测装置和处理单元中出现的测量误差的机器人清洁装置。
有利的是,该机器人清洁装置被配置成用于自主地校准算法中用来估计该机器人清洁装置相对于物体/地标的位置的多个参数。
该机器人清洁装置以及由该机器人清洁装置所执行的用于检测测量误差的方法的宗旨在于识别地标,例如平坦的墙壁,以便通过使用障碍物检测装置来估计与该地标的距离、并且接着通过从当前位置移动至与该地标相接触而在该机器人清洁装置内使用航位推算法来确定与该地标的实际距离。接着可以将通过相机、结构光源、和处理器所获得的距离与通过航位推算法所获得的实际距离进行比较来确定测量误差。
在此披露了一种用于检测机器人清洁装置的障碍物检测装置的测量误差的方法,该方法包括以下步骤:通过用结构光来照亮地标并且从该结构光的反射中提取信息来估计该地标相对于该机器人清洁装置的距离,移动到与该地标相接触而同时航位推算出与该地标的实际距离,并且将该实际距离与该距离进行比较以便检测该障碍物检测装置的测量误差。
在以上方法中,该机器人清洁装置可以甚至被配置成用于获得关于该地标的位置的估计值。
该机器人清洁装置因此能够在操作过程中检测测量误差。不需要将机器人清洁装置发送给生产商去检测误差。因此,该机器人清洁装置是非常自主且使用方便的。
在实施例中,该方法可以包括以下步骤通过远离该地标移动返回并且再次与该地标相接触,将以上步骤中的一些或全部步骤重复若干次。
因此这些距离在每次测量时不需要是相同的。
该地标可以优选地是平坦的且不移动的地标,如墙壁等。
在另外的实施例中,该方法可以包括以下步骤:确定所检测到的这些测量误差是否一致。
这是有利地,因为一次测量不能作为代表,因为该机器人清洁装置的轮子在朝向地标移动的过程中可以转动。另一个潜在问题可能是,在该机器人清洁装置移动到与地标相接触时,地板上的灰尘影响该机器人清洁装置的移动路线。因此,可以优选地执行若干次测量以便检测到一致的测量误差。
当发现在若干次执行该方法的过程中所检测到的测量误差一致时,可以调整距离计算算法中的参数。
这个校准步骤可以帮助提供一种能够在长期操作内准确地进行连续测量的机器人清洁装置。
在实施例中,在距离计算算法中的该参数可以是结构光源相对于该障碍物检测装置的相机的观察方向所安排在的角度的值。
可以调整例如与基线有关的其他参数,该基线是障碍物检测装置的相机与结构光源之间的距离。
在该方法的实施例中,在预定操作时间已经过去之后,可以执行以上步骤中的一些或全部步骤。
在另外的实施例中,如果振动和/或温度传感器检测到高于或低于温度阈值的温度,则可以执行以上步骤中的一些或全部步骤。
该机器人清洁装置内的高温(例如在夏天清洁光照良好的房间的过程中或在长期操作之后)可能影响结构光源所嵌入其中的材料和/或该结构光源本身的材料。温度阈值可以防止产生自高温或低温的测量误差。
替代地或此地,温度传感器可以是振动传感器等,该传感器记录振动或冲击并且被配置成用于在这样的振动或冲击时间段过去之后开始进行测量误差检测。
在另外的实施例中,如果该机器人清洁装置已经在闲置模式下保持了预定时间段,则可以开始以上步骤中的一些或全部步骤。
长的闲置时间段(例如,存放)可能将机器人清洁装置暴露在可能影响该实际角度或实际基线的高/低温度、湿度、以及其他应力下。因此,一旦机器人清洁装置已经闲置了预定时间段,该机器人清洁装置就将执行以上步骤中的一些或全部步骤,以便提供改善的准确度。
在此披露了一种机器人清洁装置,该机器人清洁装置包括:主体,推进***,该推进***被安排成用于使该机器人清洁装置移动,接触检测部,该接触检测部连接至该主体上并且被安排成用于检测该机器人清洁装置是否与物体相接触,以及连接至该推进***上的航位推算传感器。该机器人清洁装置另外包括障碍物检测装置以及被安排成用于控制该推进***的处理单元,该障碍物检测装置包括被安排成在该主体上的、彼此相距一定距离的3D传感器***(可以例如是3D相机***、3D激光***等)和第一结构光源。该障碍物检测装置被安排成用于通过用来自该第一结构光源的结构光来照亮地标,来将该地标相对于该机器人清洁装置定位。该处理单元被安排成用于基于所检测到的该结构光的反射来估计与该地标的距离,并且随后使该机器人清洁装置移动至与该地标相接触而同时经由该航位推算传感器来测量与该地标的实际距离,由此接着将该实际距离与该距离进行比较以便检测测量误差。
该机器人清洁装置因此有利地被配置成用于自主地检测测量误差。由该航位推算传感器所测量的实际距离被认为是准确距离。
在另外的实施例中,该机器人清洁装置可以包括第二结构光源。
在实施例中,该第一和/或第二机构光源可以相应地相对于该机器人清洁装置的主体的前端部以及该障碍物检测装置的相机的观察方向以某个角度进行安排。
该角度可以确保来自该第一和/或第二结构光源的投射光线实际上位于该3D相机***的视野内。
在另外的实施例中,该处理单元可以被配置成用于根据若干次测量来测量测量误差并且将其存储,并且其中该处理单元可以检测这些测量误差是否是一致的。
如上文所描述的,这可以帮助避免在该测量方法期间的一次误差影响对一个或多个真实的、一致的测量误差的检测。
在另一个实施例中,该处理单元可以包括具有表示该第一和/或第二结构光源所安排在的角度的参数的距离计算算法,并且其中,如果检测到这些测量误差是一致的,该处理单元就校准该参数。
在实施例中,该机器人清洁装置可以包括至少一个撞击和/或温度传感器,该传感器被安排成与该处理单元通信。
该撞击和/或温度传感器可以记录该机器人清洁装置周围或内部的高温、和/或振动,使得该处理单元可以根据以上步骤中的一些或全部步骤来开始该方法。
在另一个实施例中,该处理单元可以包括计时器。
该计时器可以用来确定是否有必要根据以上步骤中的一些或全部步骤来开始该方法、并且因此确定是否有必要校准该机器人清洁装置。
本发明另外涉及一种包括计算机可执行指令的计算机程序,这些计算机可执行指令用于在这些计算机可执行指令在该机器人清洁装置中所包括的处理单元上被执行时致使该机器人清洁装置执行以上步骤中的一些或全部步骤。
本发明另外涉及一种包括计算机可读存储介质的计算机程序产品,该计算机可读存储介质包括在其中实施的根据以上段落所述的计算机程序。
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、设备、部件、手段、步骤等”是如参考该元件、装置、设备、部件、手段、步骤等中的至少一个实例开放性解释的。除非明确阐述,在此所披露的任何方法的步骤不必按照所披露的确切顺序来执行。
附图简要说明
现在将通过举例的方式通过参考附图来描述本发明,在附图中:
图1示意性地展示了根据本发明的机器人清洁装置的实施例的倒置图,其中主体的底部被展示为透明的以便示出该机器人清洁装置的各种部件;
图2示意性地展示了根据本发明实施例的机器人清洁装置的正视图;
图3示意性地展示了根据本发明实施例的机器人清洁装置上的自上而下视图;
图4示意性地展示了机器人清洁装置如何估计与地标的距离;
图5示意性地展示了机器人清洁装置如何通过航位推算法来测量与地标的实际距离;并且
图6展示了根据本发明的方法的方法步骤。
详细说明
现在将参照这些附图在下文中更为全面地描述本发明,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装置,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、机器人清洁器或机器人地板洗涤器。根据本发明的机器人清洁装置10、10’能够用市电操作并且具有电绳、是用电池操作的、或者使用任何其他种类的合适的能源,例如太阳能。
图1示出了根据本发明的实施例的机器人清洁装置10的底视图,即,示出了机器人清洁装置10的底侧。箭头指示了机器人清洁装置的前进方向。机器人清洁装置10包括主体11,该主体容纳了如推进***的多个部件,该推进***包括呈能够使驱动轮12、13移动的两个电动轮电机15a、15b形式的驱动装置,从而使得清洁装置能够在有待清洁的表面上移动。每个轮电机15a、15b能够控制各自的驱动轮12、13彼此独立地旋转以便使机器人清洁装置10在待清洁的表面上移动。可以设想许多不同的驱动轮安排以及各种不同的轮电机安排。应注意的是,机器人清洁装置10可以任何具有合适的形状,如具有更传统的圆形主体或三角形主体的装置。
作为上文所描述的推进***的替代方案,可以使用跟踪推进***或甚至气垫船推进***。
该推进***另外连接至两个航位推算传感器30、30’上,给每个驱动轮12、13指派了一个航位推算传感器,如图1所示。航位推算传感器30、30’被配置成用于通过观察驱动轮12、13的相应移动和转动来独立地测量机器人清洁装置10所行驶的距离,以便帮助将机器人清洁装置10定位在例如房间内。
图1所示的机器人清洁装置10的实施例包括两个航位推算传感器30、30’,但是能够想象机器人清洁装置包括仅一个航位推算传感器30、30’。
控制器16(如微处理器)鉴于从障碍物检测装置(图1a中未示出)接收的信息来控制这些轮电机15a、15b根据需要使驱动轮12、13旋转,该障碍物检测装置用于检测机器人清洁装置必须绕其导航的、处于墙壁、落地灯、桌腿形式的障碍物。航位推算传感器30、30’例如经由这些电动轮电机15a、15b连接至控制器16上,如图1所示。该障碍物检测装置可以被实施为红外(IR)传感器和/或声呐传感器、微波雷达、借助于例如3D相机、与激光器组合的相机、激光扫描仪实现的用于记录其周围环境的3D传感器***等形式,用于检测障碍物并将关于任何检测到的障碍物的信息传达到控制器16,该控制器可以实施为微处理器或处理单元16的形式。微处理器16与轮电机15a、15b通信,以便根据由障碍物检测装置提供的信息来控制轮12、13的移动,使得机器人清洁装置10能够根据需要在有待清洁的表面上移动。这将参照后边的附图进行更详细的描述。
另外,主体11可以可选地安排有用于从待清洁的表面上除去碎屑和灰尘的清洁构件17,该清洁构件呈安排在机器人清洁器10的底部处的开口18中的可旋转刷辊的形式。因此,可旋转刷辊17沿水平轴线安排在开口18中,以增强清洁装置10的灰尘和碎屑收集特性。为了使刷辊17旋转,刷辊电机19操作地联接到刷辊上,以根据从控制器/微处理器16接收的指令控制其旋转。
此外,机器人吸尘器10的主体11包括抽风机20,该抽风机创造气流以便经由主体11的底侧中的开口18将碎屑运输到被容纳在该主体中的集尘袋或旋流器安排(未示出)。抽风机20由连接到控制器16上的风扇电机21驱动,风扇电机21从该控制器接收用于控制抽风机20的指令。应注意的是,可以设想机器人清洁装置10具有可旋转刷辊17和抽风机20中的任一者用于将碎屑运送到集尘袋。然而,这两个的组合会增强机器人清洁装置10的除屑能力。
替代地,机器人清洁装置10可以包括拖把(未示出)和/或旋转地板刷(未示出)。
另外参照图1,以一个或多个微处理器形式实施的控制器/处理单元16被安排为执行被下载到与该微处理器相关联的合适的存储介质26中的计算机程序25,该存储介质例如是随机存取存储器(RAM)、快闪存储器或硬盘驱动器。控制器16被安排为在包括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26并且被控制器16执行时实施根据本发明的多个实施例的方法。存储介质26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(如数字化通用磁盘(DVD)、光盘(CD)或者记忆棒)来传递至存储介质26。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26。控制器16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)等的形式来实施。
在图1中另外展示了接触检测部32。如在移动方向上看到的,接触检测部32被安排在机器人清洁装置10的前端处。接触检测部32可以延伸跨过机器人清洁装置10的整个前侧、类似于现代汽车的停车距离传感器。替代地,接触检测部32可以仅延伸跨过机器人清洁装置10的前极端,如图1所示。接触检测部32被安排成用于检测机器人清洁装置10是否与物体或地标相接触。这在必须避免与障碍物的碰撞时并且在必须验证该障碍物检测装置的测量的情况下可能是有用的,如将在下文中参照图4和5所描述的。
此外,机器人清洁装置10可以包括操作性地连接至控制器16上的振动和/或温度传感器34。振动和/或温度传感器34可以被配置成用于记录机器人清洁装置10内的温度并且在该温度高于某个温度阈值时开始用于检查算法中的参数的方法,如在下文中所描述的。振动和/或温度传感器34可以另外用于记录例如在该机器人清洁装置与物体发生碰撞时或者在它发生边缘翻倒时可能出现的振动、并且开始这种用于检查算法中的参数的方法,如在下文中所描述的。
图2示出了根据实施例的机器人清洁装置10的正视图,展示了呈3D相机***22形式的前述障碍物检测装置,该相机***至少包括相机23以及第一和第二结构光源27、28,这些结构光源可以是水平或竖直定向的线激光器。另外示出了前面参照图1讨论的控制器16、主体11、驱动轮12、13和可旋转刷辊17。控制器16操作性地联接到用于记录机器人清洁装置10的附近的图像的相机23。第一和第二结构光源27、28可以优选地是竖直线激光器并且被安排在相机23的侧面、被配置为照亮比机器人清洁装置10的高度和宽度更大的高度和宽度。另外,相机23的视野优选地小于第一和第二结构光源27、28照亮的空间。相机23由控制器16控制来每秒捕捉和记录多张图像。通过控制器16从这些图像中提取数据,并且通常将数据与计算机程序25一起保存在存储器26中。
第一和第二结构光源27、28被配置为优选地朝竖直朝向、正常朝机器人清洁装置10的移动方向扫描机器人清洁装置10的附近。第一和第二结构光源27、28被配置为发出照亮家里或房间的家具、墙壁和其他物体的激光束。在机器人清洁装置10在有待清洁的表面上移动时,相机23被控制器16控制,以捕捉并记录图像,通过从这些图像提取特征并通过测量被机器人清洁装置10覆盖的距离,控制器16从这些图像创建机器人清洁装置10在其中操作的周围环境的表示或布局。因此,控制器16从所记录的图像中得到机器人清洁装置10相对于待清洁的表面的位置数据、从得到的位置数据中生成周围环境的3D表示、并且控制驱动电机15a、15b来使机器人清洁装置根据提供给机器人清洁装置10的生成的3D表示和导航信息来移动,使得能够在考虑到所生成的3D表示的情况下对有待清洁的表面导航。因为得到的位置数据会用作机器人清洁装置10的导航基础,所以定位正确是重要的;该机器人清洁装置会以其他方式根据误导的其周围环境的“地图”来进行导航。
从3D相机***22记录的图像中生成的3D表示因此帮助对墙壁、落地灯、桌腿形式的、机器人清洁装置10必须在其周围导航的障碍物以及机器人清洁装置10必须横越的小地毯、地毯、门阶等进行检测。机器人清洁装置10因此被配置为通过运行/清洁来了解其环境或者周围环境。
关于图2,为了说明目的,3D相机***22是与机器人清洁装置10的主体11分开的。然而,在实际实现方式中,3D传感器***22可能与机器人清洁装置10的主体11形成为一体,以使机器人清洁装置10的高度最小化,由此允许它在如(例如)沙发的障碍物下面穿过。
图3展示了根据本发明另一个实施例的机器人清洁装置10’上的自上而下视图,其中3D相机***22仅包括相对于相机23的主观察方向V以角度α安排的第一结构光源27,如图3所示。如上文所描述的,在机器人清洁装置10上可以安排两个结构光源27、28。在图3中,另外展示了基线b。基线b同相机23与结构光源27之间的、垂直于相机23的主观察方向V所测量的距离相对应。相机23和结构光源27可以嵌入主体11的材料中。角度α和/或基线b的实际值可能例如由于材料收缩、材料老化、湿度、振动、温度等而随着时间变化,从而影响分别由该3D相机***23和该障碍物检测装置所执行的距离的测量和估计。图4至图6展示了一种用于验证并校准在距离计算算法中的以上参数的方法,这些参数表示角度α和基线b的值。
图4展示了机器人清洁装置10’如何来:识别S1(参见图6)地标36,例如像平坦的墙壁;用来自结构光源27的光来照亮S2(参见图6)地标36;并且通过分析源自结构光源27的反射光来估计S3(参见图6)与地标36的距离DC。在地标36的识别S1过程中,如果地标36没有存储在机器人清洁装置10’的内部地图中,机器人清洁装置10’可以基本上当场旋转以便生成地标36的地图。距离DC可以优选地为以下距离:距地标36的最短距离;但是不需要是该最短距离。如之前所描述的,距离DC是经由在控制器或微处理器16上执行通过使用三角函数以及表示基线b和角度α(参见图3)的固定参数的算法而获得的。
为了在距离DC的估计S3过程中检测测量误差,必须确定实际距离DA。这可以根据图5来完成。在估计S3了距离DC之后,机器人清洁装置10’移动S4(参见图6)至与地标36相接触,如在图5中所展示的,并且通过使用航位推算法以及相应的航位推算传感器30、30’来测量实际距离DA。一旦接触检测部32(参见图1)检测到与地标36的物理接触,就记录与地标36的接触。
通过将距离DC与实际距离DA进行比较S5(参见图6),可以检测S6(参见图6)由该算法中表示角度α和/或基线b的参数所得的测量误差。由于角度α是该算法中最敏感的参数,因此该参数对估计S3具有最大影响,所以在大多数情况下测量误差是源自表示这个角度α的错误参数。因此,如果存在测量误差,在大多数情况下这个表示角度α的参数是误差的来源。因此,测量误差意味着表示角度α的参数不再与实际角度α相对应,因为实际角度α从最后一次校准或者从机器人清洁装置10、10’的生产以来发生变化。
图6展示了步骤S1至S6。根据步骤S1至S6所执行的单次测量的测量误差可以是一次性的,如之前所描述的。为了防止在测量实际距离DA时出现对测量误差检测S6具有高影响的一次性测量误差,可以将以下这些步骤重复S7若干次:识别S1地标36、照亮S2地标36、估计S3与地标36的距离DC、移动S4至与地标36相接触、将距离DC与实际距离DA进行比较S5、以及检测S6测量误差以便确定该测量误差实际上是否一致。这可以例如通过执行多次重复测量以及统计地分析所检测到的侧误差的标准偏差(如果存在的话)来完成。这可以在控制器/微处理器16中自动地完成。为了重复步骤S1至S6,机器人清洁装置10、10’远离地标36移动返回并且重复步骤S1至S6。如图5所展示的实际距离DA因此不需要对每次测量(步骤S1至S6)都是相同的。
如果在该多次重复测量之后发现S8这些测量误差是一致的,则可以调整S9在距离计算算法中表示角度α的参数和/或表示基线b的参数,如图6所示。
上文所描述的方法可以在机器人清洁装置10、10’的预定操作时间过去之后、和/或在振动和/或温度传感器34已经记录了振动之后、和/或在振动和/或温度传感器34已经记录了机器人清洁装置10、10’内或周围的高于或低于预定温度阈值的温度之后执行。
在该机器人清洁装置10(在图3至5中未示出)包括第一和第二结构光源27、28的情况下,可以调整表示这两个角度(角度α以及该第二结构光源28相对于该相机的观察方向V所安排在的角度)的参数。
在另外的实施例中,可能能够彼此独立地检查或验证上一段落中所描述的这两个角度。在另一个实施例中,通过使用平均值可以彼此依赖地检查这两个角度。优选地,第一结构光源27所安排在的角度α和第二结构光源28所安排在的角度(在附图中未示出)是相同的,这使得更容易验证并且提高准确度,如以上所描述的。
在整个方法过程中,实际距离DA被认为是准确的。虽然例如驱动轮12、13之一的转动可能导致实际距离DA不准确,但是根据以上所描述的步骤S1至S6的这些重复测量可以排除或至少减小来自错误测量的实际距离的这种一次性误差的影响。原则上,可以在确定了一致的误差时忽略或放弃被控制器发现是错误的(由于与测量模式的偏差)误差测量。
上文主要参照一些实施例对本发明进行了描述。然而,本领域技术人员容易了解的是,除了上文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 (14)
1.一种用于检测机器人清洁装置(10,10’)的障碍物检测装置的测量误差的方法,包括以下步骤:
识别(S1)地标(36)
-通过用结构光来照亮(S2)该地标(36)并且从该结构光的反射中提取信息来估计(S3)与该地标的距离(DC);
-移动(S4)到与该地标相接触而同时航位推算出与该地标的实际距离(DA);并且
-将该实际距离(DA)与该距离进行比较(S5)以便检测(S6)该障碍物检测装置的测量误差,
其中,如果该机器人清洁装置已经在闲置模式下保持了预定时间段,则开始以上步骤(S1,S2,S3,S4,S5,S6)中的一些或全部步骤。
2.根据权利要求1所述的方法,包括以下步骤:通过远离该地标移动返回并且再次与该地标相接触,将以上步骤(S1,S2,S3,S4,S5,S6)重复(S7)若干次。
3.根据权利要求2所述的方法,包括以下步骤:确定(S8)所检测到的这些测量误差是否一致。
4.根据权利要求3所述的方法,包括以下步骤:如果检测到这些测量误差是一致的,则调整(S9)距离计算算法中的参数。
5.根据权利要求4所述的方法,其中,在该距离计算算法中的该参数是结构光源相对于该障碍物检测装置的观察方向(V)所安排在的角度(α)的值。
6.根据以上权利要求中任一项所述的方法,其中,在该机器人清洁装置的预定操作时间过去之后,执行以上步骤(S1,S2,S3,S4,S5,S6,S7,S8,S9)中的一些或全部步骤。
7.根据权利要求1至5中任一项所述的方法,其中,如果温度传感器(34)检测到高于或低于温度阈值的温度,则执行以上步骤(S1,S2,S3,S4,S5,S6,S7,S8,S9)中的一些或全部步骤。
8.一种机器人清洁装置(10,10’),包括:
主体(11);
推进***(12,13,15a,15b),该推进***被安排成用于使该机器人清洁装置移动;
接触检测部(32),该接触检测部连接至该主体(11)上并且被安排成用于检测该机器人清洁装置是否与物体相接触;
航位推算传感器(30,30’),该航位推算传感器操作性地连接至该推进***上;
障碍物检测装置,该障碍物检测装置包括被安排成在该主体上、彼此相距一定距离的相机(23)和第一结构光源(27);以及
处理单元(16),该处理单元被安排成用于控制该推进***;
其中,该障碍物检测装置被安排成用于通过用来自该第一结构光源的结构光来照亮地标(36),从而将该地标相对于该机器人清洁装置定位,其中,该处理单元被安排成用于执行以下步骤:基于所检测到的该结构光的反射来估计与该地标的距离(DC),并且随后使该机器人清洁装置移动至与该地标相接触而同时经由该航位推算传感器来测量与该地标的实际距离(DA),由此接着将该实际距离与该距离进行比较以便检测测量误差,并且其中,如果该机器人清洁装置已经在闲置模式下保持了预定时间段,则开始以上步骤中的一些或全部步骤。
9.根据权利要求8所述的机器人清洁装置,其中,该第一结构光源(27)是相对于该机器人清洁装置的该相机的观察方向(V)以角度(α)来安排的。
10.根据权利要求9所述的机器人清洁装置,其中,该处理单元被配置成用于根据若干次测量来测量这些测量误差并且将其存储,并且其中,该处理单元检测这些测量误差是否是一致的。
11.根据权利要求10所述的机器人清洁装置,其中,该处理单元包括具有表示该角度的参数的距离计算算法,并且其中,如果检测到这些测量误差是一致的,该处理单元就校准该参数。
12.根据前述权利要求8至11中任一项所述的机器人清洁装置,包括至少一个振动和/或温度传感器(34),该至少一个传感器被安排成与该处理单元通信。
13.根据前述权利要求8至11中任一项所述的机器人清洁装置,其中,该处理单元(16)包括计时器。
14.一种包括计算机可读存储介质(26)的计算机程序产品,该计算机可读存储介质(26)具有在其中实施的计算机程序(25),该计算机程序(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装置(10,10’)中的处理单元(16)上执行这些计算机可执行指令时致使该机器人清洁装置(10,10’)执行如权利要求1至7中任一项所述的步骤。
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