CN106444764B - Establish the method and cruise method and learning method of sweeping robot cruise coordinate system - Google Patents
Establish the method and cruise method and learning method of sweeping robot cruise coordinate system Download PDFInfo
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- CN106444764B CN106444764B CN201610917156.5A CN201610917156A CN106444764B CN 106444764 B CN106444764 B CN 106444764B CN 201610917156 A CN201610917156 A CN 201610917156A CN 106444764 B CN106444764 B CN 106444764B
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- sweeping robot
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- 238000010408 sweeping Methods 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000004140 cleaning Methods 0.000 claims description 10
- 239000000428 dust Substances 0.000 claims description 3
- 241001417527 Pempheridae Species 0.000 claims 1
- 201000004569 Blindness Diseases 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of method for establishing sweeping robot cruise coordinate system and cruise method and learning methods, the method of coordinate system is established the following steps are included: starting sweeping robot at origin magnetic nail, sweeping robot identifies the origin magnetic nail by the Magnetic Sensor of itself, and is determined as the coordinate origin of coordinate system；Sweeping robot searches threshold magnetic nail one by one, and after often searching a threshold magnetic nail, sweeping robot just identifies that the threshold magnetic is followed closely, and records the threshold magnetic and follow closely the location information in the coordinate system；Finally the location information of origin magnetic nail and each threshold magnetic nail is recorded in coordinate system.Cruise method is the following steps are included: carry out blanket type cruise for every room one by one, and the rubbish type and quantity of refuse in each room are recorded in cruise log.Robotics learning method is classified each room according to quantity of refuse, the room of different stage corresponds to different cruise frequencies according to the quantity of refuse in the cruise each room of log statistic.
Description
Technical field
The present invention relates to a kind of Indoor Robot more particularly to it is a kind of establish sweeping robot cruise coordinate system method and
Cruise method and learning method.
Background technique
Sweeping robot has been had already appeared in family or office, certainly further includes other kinds of service robot.This
A little robots will realize that the effect of oneself must play the function of its cruise indoors, then can realize that its is distinctive
Other function.Especially sweeping robot is needed to carry out blanket type for the ground in house type to clean cruise, how be planned optimal
Cruise route is utmostly time-saving guarantee, and utmostly meets the guarantee that blanket type cruises without dead angle.Into one
How step by daily work and study obtains optimal working method.
Summary of the invention
The present invention overcomes the deficiencies in the prior art, a kind of method that establishing sweeping robot cruise coordinate system is provided and is patrolled
Boat method and learning method.
In order to achieve the above objectives, the first technical solution that the present invention uses are as follows: a kind of established by magnetic nail site is swept the floor
The method of robot cruise coordinate system, the site include being arranged at entry door to register one's residence door sensor nail, setting at cradle
Origin magnetic nail and the setting indoors threshold magnetic nail at each threshold, which comprises the following steps:
(1) start sweeping robot at origin magnetic nail, sweeping robot identifies the original by the Magnetic Sensor of itself
Point magnetic nail, and it is determined as the coordinate origin of coordinate system；
(2) sweeping robot searches threshold magnetic nail one by one, and after often searching a threshold magnetic nail, sweeping robot is just identified
Threshold magnetic nail, and record the threshold magnetic and follow closely the location information in the coordinate system；
(3) finally the location information of origin magnetic nail and each threshold magnetic nail is recorded in coordinate system.
2. the method according to claim 1 for establishing sweeping robot cruise coordinate system, it is characterised in that: step
(2) it after threshold magnetic nail is recorded in coordinate system by sweeping robot in, just crosses threshold magnetic nail and enters corresponding room and edge
The cruise of room edge contour.
Second of technical solution that the present invention uses are as follows: a kind of sweeping robot cruise method in the coordinate system,
Characterized by comprising the following steps: one by one for door sensor nail and the corresponding room progress carpet of each threshold magnetic nail of registering one's residence
Formula cruise, and the rubbish type and quantity of refuse in each room are recorded in cruise log.
The third technical solution that the present invention uses are as follows: the sweeping robot study side formed according to the cruise log
Method, it is characterised in that: according to the quantity of refuse in the cruise each room of log statistic, each room is classified according to quantity of refuse,
The room of different stage corresponds to different cruise frequencies, and cruise frequency is directly proportional to quantity of refuse.
The 4th kind of technical solution that the present invention uses are as follows: the sweeping robot study side formed according to the cruise log
Method, it is characterised in that: according to cruise each room of log statistic major garbage type, according to rubbish type to each room into
Row classification, the room of different stage corresponds to different cleaning modes.
In a preferred embodiment of the present invention, the cleaning mode includes: the mode of cleaning plus dust suction and the mode for wiping ground.
The invention solves the defect existing in the background technology, the present invention have it is following the utility model has the advantages that
(1) the arrangement magnetic nail in house type, forms the hardware foundation that sweeping robot establishes self-position coordinate system, is
Sweeping robot determines that self-position creates conditions.
(2) it is followed closely in the key position setting magnetic of the controllings such as threshold and cradle, the quantity of magnetic nail can be reduced as far as possible.
Magnetic nail is arranged at threshold simultaneously, and either sweeping robot, which enters, also goes out to leave the room, is intended to cross magnetic nail, so as to machine
People determines self-position.
(3) it is analyzed, is can be very good in site by the displacement data of the foundation of site and sweeping robot itself
On the basis of coordinate system established according to the shape and structure of house type itself, so that robot is purposeful planned in coordinate system range
Cruise, avoids the blindness of robot in the prior art.
(4) by establishing cruise log, a set of optimal robot can be formed by statisticalling analyze accumulative cruise daily record data
Work cruise method, such as passes through the quantity of refuse and type for counting each room, can targetedly formulate patrolling for each room
Frequency of navigating and cruise operation content avoid robot from blindly cruising.
Specific embodiment
Presently in connection with embodiment, the present invention is described in further detail.
A method of site is followed closely by magnetic and establishes sweeping robot cruise coordinate system, the site includes that setting is being registered one's residence
Door sensor nail of registering one's residence, the origin magnetic nail being arranged at cradle at door and the threshold magnetic nail being arranged at each threshold indoors,
Arrangement magnetic nail in house type, forms the hardware foundation that sweeping robot establishes self-position coordinate system, is sweeping robot
Determine that self-position creates conditions.It follows closely, can be reduced as far as possible in the key position setting magnetic of the controllings such as threshold and cradle
The quantity of magnetic nail.Magnetic nail is arranged at threshold simultaneously, and either sweeping robot, which enters, also goes out to leave the room, is intended to cross magnetic
Nail, so that robot determines self-position.
Door sensor of registering one's residence nail can cross door sensor nail of registering one's residence to avoid robot, run out of other than house type, and guarantee robot always
It is the cruise in house type.
Establish sweeping robot cruise coordinate system method the following steps are included:
(1) start sweeping robot at origin magnetic nail, sweeping robot identifies the original by the Magnetic Sensor of itself
Point magnetic nail, and it is determined as the coordinate origin of coordinate system；
(2) sweeping robot searches threshold magnetic nail one by one, and after often searching a threshold magnetic nail, sweeping robot is just identified
Threshold magnetic nail, and record the threshold magnetic and follow closely the location information in the coordinate system；
(3) finally the location information of origin magnetic nail and each threshold magnetic nail is recorded in coordinate system.
It is analyzed by the displacement data of the foundation of site and sweeping robot itself, can be very good the base in site
Coordinate system is established according to the shape and structure of house type itself on plinth, is patrolled so that robot is purposefully planned in coordinate system range
Boat, avoids the blindness of robot in the prior art.
After threshold magnetic nail is recorded in coordinate system by sweeping robot in step (2), threshold magnetic nail entrance pair is just crossed
It the room answered simultaneously cruises along room edge contour.Each room can be drawn a circle to approve at the first time most using the cruise of edge contour formula
Big contour area forms each room accurate location and exact outline coordinate in coordinate system.
A kind of sweeping robot cruise method in coordinate system, comprising the following steps: one by one for register one's residence door sensor nail and
Each threshold magnetic follows closely corresponding room and carries out blanket type cruise, and the rubbish type and quantity of refuse in each room are recorded in and patrolled
In boat log.Blanket type cruise is to guarantee that sweeping robot can carry out clean guarantee to floor area in house type without dead angle.
The first sweeping robot learning method formed according to cruise log, it is characterised in that: according to cruise log system
The quantity of refuse for counting each room is classified each room according to quantity of refuse, and the room of different stage corresponds to different cruise frequencies
Rate, cruise frequency are directly proportional to quantity of refuse.
Second of sweeping robot learning method formed according to cruise log, it is characterised in that: according to cruise log system
The major garbage type for counting each room classifies to each room according to rubbish type, and the room of different stage is corresponding not
Same cleaning mode.If some room does not live people for a long time, the quantity of refuse in room is necessarily less, and sweeping robot can
To reduce the frequency of sweeping the floor for being directed to the room, if some room quantity of refuse is more, sweeping robot can increase for the room
Between cleaning time, living habit when these usual data with owner is closely bound up.
By establishing log of cruising, a set of optimal robot work can be formed by statisticalling analyze accumulative cruise daily record data
Cruise method can targetedly formulate the cruise frequency in each room such as by counting the quantity of refuse and type in each room
Rate and cruise operation content avoid sweeping robot from blindly cruising.
Cleaning mode includes: the mode of cleaning plus dust suction and the mode for wiping ground.
The foundation of site is to form itself for sweeping robot to establish the basic premise for matching coordinate system with house type；Coordinate system
Foundation be sweeping robot cruise " map ", coordinate system pool merged site information and layout structure information, formation is swept
The path navigation data that floor-washing robot can be used independently, utmostly avoid the blindness of sweeping robot action；It patrols
The method of boat is the optimal sweeping robot action modes set up on the basis of site, coordinate system.Pass through log of cruising
Foundation accumulation, and statistically analyze cruise log every group of data, can analyze out owner because living habit generate rubbish
Species distributing information, and then obtain the optimal way of sweeping robot.
Based on the above description of the preferred embodiments of the present invention, through the above description, related personnel completely can be with
Without departing from the scope of the technological thought of the present invention', various changes and amendments are carried out.The technical scope of this invention
It is not limited to the contents of the specification, it is necessary to determine the technical scope according to the scope of the claims.
Claims (1)
1. a kind of follow closely the method that sweeping robot cruise coordinate system is established in site by magnetic, the site includes being arranged in entry door
Door sensor nail of registering one's residence, the origin magnetic nail being arranged at cradle and the threshold magnetic nail being arranged at each threshold indoors at place,
It is characterized in that, comprising the following steps:
(1) start sweeping robot at origin magnetic nail, sweeping robot identifies the origin magnetic by the Magnetic Sensor of itself
Nail, and it is determined as the coordinate origin of coordinate system；
(2) sweeping robot searches threshold magnetic nail one by one, and after often searching a threshold magnetic nail, sweeping robot just identifies the door
Sill magnetic nail, and record the threshold magnetic and follow closely the location information in the coordinate system；
(3) finally the location information of origin magnetic nail and each threshold magnetic nail is recorded in coordinate system；Sweeper in step (2)
After threshold magnetic nail is recorded in coordinate system by device people, just crosses threshold magnetic nail and enter corresponding room and along room edge contour
Cruise；The following steps are included: following closely corresponding room for register one's residence door sensor nail and each threshold magnetic one by one carries out blanket type cruise,
And the rubbish type and quantity of refuse in each room are recorded in cruise log；According to the rubbish in the cruise each room of log statistic
Amount, is classified each room according to quantity of refuse, and the room of different stage corresponds to different cruise frequencies, frequency of cruising and rubbish
It measures directly proportional；According to the major garbage type in the cruise each room of log statistic, each room is divided according to rubbish type
Class, the room of different stage correspond to different cleaning modes；The cleaning mode includes: the mode and wiping ground of cleaning plus dust suction
Mode.
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| CN201610917156.5A CN106444764B (en) | 2016-10-21 | 2016-10-21 | Establish the method and cruise method and learning method of sweeping robot cruise coordinate system |
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| CN201610917156.5A CN106444764B (en) | 2016-10-21 | 2016-10-21 | Establish the method and cruise method and learning method of sweeping robot cruise coordinate system |
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| CN106444764B true CN106444764B (en) | 2019-11-05 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107328417A (en) * | 2017-06-13 | 2017-11-07 | 上海斐讯数据通信技术有限公司 | A kind of Intelligent robot for sweeping floor localization method and system |
| JP2019103618A (en) * | 2017-12-12 | 2019-06-27 | 東芝ライフスタイル株式会社 | Vacuum cleaner |
| CN116681195A (en) * | 2023-06-06 | 2023-09-01 | 深圳启示智能科技有限公司 | Robot road-finding device based on artificial intelligence |
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| CN104000541A (en) * | 2014-06-16 | 2014-08-27 | 成都北斗群星智能科技有限公司 | Floor sweeping robot with threshold detection function and threshold detection method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2005211359A (en) * | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | Autonomous traveling robot cleaner system |
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|---|---|---|---|---|
| CN101101203A (en) * | 2006-07-05 | 2008-01-09 | 三星电子株式会社 | Apparatus, method, medium and mobile robot using characteristic point for dividing area |
| CN101480795A (en) * | 2008-01-11 | 2009-07-15 | 三星电子株式会社 | Method and apparatus for planning path of mobile robot |
| CN104000541A (en) * | 2014-06-16 | 2014-08-27 | 成都北斗群星智能科技有限公司 | Floor sweeping robot with threshold detection function and threshold detection method thereof |
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