WO2022171145A1 - 地图绘制方法及装置、介质及电子设备 - Google Patents
地图绘制方法及装置、介质及电子设备 Download PDFInfo
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Definitions
- the present invention relates to the field of smart homes, and in particular, to a map drawing method, a map drawing device, a computer-readable storage medium, and an electronic device.
- the existing image of the carpet boundary obtained is relatively rough, which is not conducive to the cleaning robot based on the carpet boundary image.
- the purpose of the present invention is to provide a map drawing method, a map drawing device, a map display method, a map display device, a computer-readable storage medium and an electronic device, which can solve at least one of the above-mentioned technical problems.
- the present invention provides a map drawing method, comprising: scanning the boundary of a surface medium area to generate an initialization area; merging the boundary coordinates of the initialization area to obtain a merged area; The merged area is divided into a plurality of sub-areas according to a preset shape, and the surface medium area boundary is drawn according to the sub-areas and the merged area, so as to obtain a surface medium area map.
- the initialization area includes multiple initial boundary coordinates; the merge area includes multiple merge boundary coordinates.
- drawing the boundary of the surface medium area according to the sub-area and the merged area includes: deleting the merged boundary coordinates outside the sub-area and close to the sub-area, and connecting the remaining merged boundary coordinates in sequence. , to draw the boundary of the surface medium region.
- the method further includes: filling surface medium marks inside the surface medium area boundary to obtain the surface medium area map.
- combining the boundary coordinates of the initialization area to obtain the combined area includes: combining adjacent boundary coordinates in the initialization area to obtain the combined area.
- the method further includes: after obtaining the surface medium area map, storing the surface medium area map in an automatic cleaning device, and sending the surface medium area map to a user terminal through the automatic cleaning device.
- the preset shape is one of square, circle and diamond.
- the present invention provides a map drawing device, comprising: a boundary scanning module for scanning the boundary of a surface medium region to generate an initialization region; a region merging module for merging the boundary coordinates of the initialization region to obtain A merged area; a map drawing module, configured to divide the merged area into a plurality of sub-areas according to a preset shape, and draw the surface medium area boundary according to the sub-areas and the merged area to obtain a surface medium area map.
- the present invention provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the above-mentioned map drawing method.
- the present invention provides an electronic device, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above by executing the executable instructions map drawing method.
- the map drawing method provided by the exemplary embodiment of the present disclosure generates an initialization region by scanning the boundary of the surface medium region, and can obtain a smoother merged region according to the initialization region, and then combines the sub-regions.
- the boundary of the surface medium area can be drawn with the merged area, so that the surface medium area map can be drawn, and the obtained surface medium area map has a smooth boundary, which makes the surface medium area map finer, which is beneficial to the automatic cleaning equipment. Its edge area is positioned for cleaning.
- the present invention provides a map display method, comprising: acquiring room map data and area map data; drawing a room map according to the room map data, Draw the area map layer on the room map; display the room map covered with the area map layer.
- drawing an area map layer on the room map according to the area map data includes: determining the location of the room map and the area map layer according to the room map data and the area map data.
- the sub-region corresponding to the regional map layer is divided from the room map according to the location relationship, and the regional map layer is drawn on the sub-region.
- drawing the regional map layer on the sub-region includes: enlarging the sub-region to a preset ratio, and drawing the unit corresponding to the regional map data on the enlarged sub-region to obtain The area map layer.
- the regional map data includes regional boundary coordinate data; and drawing the unit corresponding to the regional map data on the enlarged sub-region includes: drawing the regional map on the enlarged sub-region one by one.
- the point unit corresponding to the data includes: drawing the regional map on the enlarged sub-region one by one.
- the method further includes: after obtaining the area map layer, restoring the size of the sub-area, and using the area map layer to cover the room map.
- the area of the sub-area is larger than the area of the area map layer, so that the area map layer is drawn in the sub-area.
- the room map data includes room boundary coordinate data; drawing a room map according to the room map data includes: determining the shape and size of the room map layer according to the room boundary coordinate data; The room boundary coordinate data is drawn one by one to obtain the room map.
- the present invention provides a map display device, comprising: a data acquisition module for acquiring room map data and area map data; a map drawing module for drawing a room map according to the room map data, and according to the area The map data draws an area map layer on the room map; the map display module is used to display the room map covered with the area map layer.
- the present invention provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the above-mentioned map display method.
- the present invention provides an electronic device, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-mentioned execution by executing the executable instructions map display method.
- the map display method provided by the exemplary embodiments of the present disclosure is used for the user equipment that interacts with the automatic cleaning device.
- the user equipment acquires the room map data and the area map data sent by the automatic cleaning device.
- an area map layer can be drawn based on the area map data, so that a room map covered with the area map layer can be obtained, and the room map can be displayed through the user equipment. That is to say, while the room map is displayed on the user device, the area map layer is also displayed on the room map, thereby helping the user to more accurately locate the cleaning area for controlling the automatic cleaning device.
- FIG. 1 is a perspective view of an automatic cleaning device according to an embodiment of the present invention.
- FIG. 2 is a schematic diagram of a bottom structure of an automatic cleaning device according to an embodiment of the present invention.
- FIG. 3 is a perspective view of a side drive wheel assembly according to an embodiment of the present invention.
- FIG. 4 is a front view of a side drive wheel assembly according to an embodiment of the present invention.
- FIG. 5 is a perspective view of a dust box according to an embodiment of the present invention.
- FIG. 6 is a perspective view of a fan according to an embodiment of the present invention.
- FIG. 7 is a schematic diagram of an open state of the dust box according to an embodiment of the present invention.
- FIG. 8 is a schematic diagram of a combined state of a dust box and a fan according to an embodiment of the present invention.
- FIG. 9 is an exploded view of an automatic cleaning device according to an embodiment of the present invention.
- FIG. 10 is a structural diagram of a support platform for an automatic cleaning device according to an embodiment of the present invention.
- FIG. 11 is a structural diagram of a vibration member of an automatic cleaning device according to an embodiment of the present invention.
- FIG. 12 is a schematic diagram of a cleaning head driving mechanism based on a crank-slider mechanism according to another embodiment of the present invention.
- FIG. 13 is a schematic diagram of a cleaning head driving mechanism based on a double crank mechanism according to another embodiment of the present invention.
- FIG. 14 is a schematic diagram of a cleaning head driving mechanism based on a crank mechanism according to another embodiment of the present invention.
- FIG. 15 is a schematic diagram of a raised state of an automatic cleaning device according to an embodiment of the present invention.
- 16 is a schematic diagram of a sinking state of an automatic cleaning device according to an embodiment of the present invention.
- 17 is a schematic diagram of a raised state of the four-link lifting structure according to an embodiment of the present invention.
- FIG. 18 is a schematic diagram of the sinking state of the four-link lifting structure according to an embodiment of the present invention.
- Fig. 19 shows a flowchart of a map drawing method according to an embodiment of the present invention.
- FIG. 20 shows a schematic structural diagram of the initialization area after scanning the surface medium area according to an embodiment of the present invention
- Figure 21 shows a schematic structural diagram of a merged region obtained based on the initialization region shown in Figure 20;
- Figure 22 shows a schematic structural diagram of a sub-region determined based on the merged region shown in Figure 21;
- FIG. 23 shows a schematic structural diagram of a surface medium area map drawn by a map drawing method according to an embodiment of the present invention
- Fig. 24 shows a block diagram of a map drawing apparatus according to an embodiment of the present invention.
- Fig. 25 shows a flowchart of a map display method according to an embodiment of the present invention.
- Fig. 26 shows a schematic structural diagram of drawing an area map layer on a room map according to an embodiment of the present invention
- FIG. 27 shows a schematic structural diagram of the initialization area after scanning the surface medium area according to an embodiment of the present invention
- Figure 28 shows a schematic structural diagram of a merged region obtained based on the initialization region shown in Figure 27;
- Fig. 29 shows a block diagram of a map display device according to an embodiment of the present invention.
- FIG. 30 shows a schematic block diagram of an electronic device according to an embodiment of the present invention.
- first, second, third, etc. may be used to describe . . . in the embodiments of the present invention, these . . . should not be limited to these terms. These terms are only used to distinguish ...
- the first... may also be referred to as the second..., and similarly, the second... may also be referred to as the first... without departing from the scope of the embodiments of the present invention.
- the words “if”, “if” as used herein may be interpreted as “at” or “when” or “in response to determining” or “in response to detecting”.
- the phrases “if determined” or “if detected (the stated condition or event)” can be interpreted as “when determined” or “in response to determining” or “when detected (the stated condition or event),” depending on the context )” or “in response to detection (a stated condition or event)”.
- Figures 1 to 2 are schematic structural diagrams of an automatic cleaning device according to an exemplary embodiment.
- the automatic cleaning device may be a vacuum robot, or mopping/sweeping.
- the automatic cleaning equipment may include a mobile platform 100 , a sensing system 120 , a control system 130 , a driving system 140 , a cleaning module 150 , an energy system 160 and a human-computer interaction system 170 .
- the mobile platform 100 may be configured to automatically move along the target direction on the operating surface.
- the operating surface may be the surface to be cleaned by the automatic cleaning device.
- the automatic cleaning device can be a mopping robot, and the automatic cleaning device works on the ground, where the ground is the operating surface; the automatic cleaning device can also be a window cleaning robot, and the automatic cleaning device is in the building.
- the outer surface of the glass works, the glass is the operation surface; the automatic cleaning equipment can also be a pipe cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipe, and the inner surface of the pipe is the operation surface.
- the following description in this application takes a floor mopping robot as an example for illustration.
- the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform.
- the autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions according to unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions according to unexpected environmental inputs. Operational decisions, but can execute a given procedure or operate according to a certain logic.
- the target direction may be determined autonomously by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by the system or manually.
- the mobile platform 100 includes a forward portion 111 and a rearward portion 110 .
- Perception system 120 includes position determination device 121 located above mobile platform 100, buffer 122 located at forward portion 111 of mobile platform 100, cliff sensors 123 and ultrasonic sensors (not shown), infrared sensors located at the bottom of mobile platform 100 (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensors
- the device provides various position information and motion state information of the machine to the control system 130 .
- the automatic cleaning device can travel on the ground by various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: lateral axis x, Front and rear axis y and center vertical axis z.
- the forward drive direction along the front-rear axis y is designated “forward” and the rearward drive direction along the front-rear axis y is designated “rear”.
- the transverse axis x extends substantially along the axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning apparatus.
- the automatic cleaning device can rotate around the x-axis.
- the automatic cleaning device can be rotated about the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is inclined to the right of the Y-axis, it is “turn right", and when the automatic cleaning device is inclined to the left of the y-axis, it is “turn left”.
- cliff sensors 123 are provided on the bottom of the mobile platform 100 and at the front and rear of the driving wheel assembly 141 , and the cliff sensors 123 are used to prevent the automatic cleaning device from falling when it retreats, so that the automatic cleaning device can be avoided. damaged.
- the aforementioned "front” refers to the same side with respect to the traveling direction of the automatic cleaning device, and the aforementioned “rear” refers to the opposite side with respect to the traveling direction of the automatic cleaning device.
- the location determination device 121 includes, but is not limited to, a camera and a laser ranging device (LDS Laser Direct Structuring).
- LDS Laser Direct Structuring LDS Laser Direct Structuring
- Each component in the perception system 120 can operate independently, or can operate together to achieve the purpose function more accurately.
- the surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical properties of the surface to be cleaned, including surface medium, cleanliness, etc., and can be combined with cameras, laser ranging devices, etc. for more accurate determination.
- the ultrasonic sensor can determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.
- the forward portion 111 of the mobile platform 100 is provided with a bumper 122.
- the bumper 122 detects the travel path of the automatic cleaning device via a sensor system, such as an infrared sensor. one or more events (or objects), the automatic cleaning device can control the drive wheel assembly 141 to cause the automatic cleaning device to respond to the events (or objects) detected by the buffer 122, such as obstacles, walls, and Events (or objects) respond, such as moving away from obstacles.
- the control system 130 is provided on a circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, an application processing unit that communicates with non-transitory memory, such as hard disk, flash memory, random access memory,
- the device is configured to receive the environmental information sensed by the plurality of sensors from the perception system 120, and use a positioning algorithm, such as SLAM, to map the real-time situation in the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device. map, and autonomously determine a driving path according to the environmental information and the environmental map, and then control the driving system 140 to perform operations such as forward, backward, and/or steering according to the autonomously determined driving path. Further, the control system 130 may also decide whether to start the cleaning module 150 to perform the cleaning operation according to the environmental information and the environmental map.
- control system 130 can combine the distance information and speed information fed back by the buffer 122 , the cliff sensor 123 and the ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensing devices to comprehensively judge that the sweeper is currently in What working state, such as crossing the threshold, on the carpet, on the cliff, stuck above or below, the dust box is full, picked up, etc., will also give specific next action strategies for different situations, so that automatic cleaning The work of the device is more in line with the owner's requirements, and there is a better user experience. Further, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, which greatly improves the cleaning efficiency of automatic cleaning equipment.
- the drive system 140 may execute drive commands to steer the automated cleaning apparatus across the ground based on specific distance and angular information, such as x, y, and theta components.
- 3 and 4 are oblique views and front views of one side drive wheel assembly 141 in an embodiment of the present invention.
- the drive system 140 includes a drive wheel assembly 141, and the drive system 140 can control the left wheel and the right wheel at the same time.
- the drive system 140 preferably includes a left drive wheel assembly and a right drive wheel assembly, respectively.
- the left and right drive wheel assemblies are arranged symmetrically along the transverse axis defined by the mobile platform 100.
- the drive wheel assembly includes a housing and a connecting frame, and a drive motor 146 is respectively disposed in the drive wheel assembly.
- the drive motor 146 is located outside the drive wheel assembly 141, and the axis of the drive motor 146 is located in the section of the drive wheel assembly.
- the drive wheel assembly 141 may also be connected to a circuit for measuring drive current and an odometer.
- the automatic cleaning equipment may include one or more steering assemblies 142, and the steering assemblies 142 may be driven wheels or driving wheels, and their structural forms Including but not limited to caster wheels, the steering assembly 142 may be located in front of the drive wheel assembly 141 .
- Drive motor 146 provides power for rotation of drive wheel assembly 141 and/or steering assembly 142 .
- the driving wheel assembly 141 can be detachably connected to the mobile platform 100 for easy disassembly and maintenance.
- the drive wheel may have an offset drop suspension system, movably fastened, eg, rotatably attached, to the automatic cleaning device moving platform 100, and grounded to a certain degree by elastic elements 143, such as tension springs or compression springs The force maintains the contact and traction with the ground, and at the same time, the cleaning module 150 of the automatic cleaning device also contacts the surface to be cleaned with a certain pressure.
- the energy system 160 includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries.
- the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are then connected with the single-chip microcomputer control circuit.
- the host is charged by connecting to the charging pile through the charging electrode arranged on the side or below of the fuselage.
- the human-computer interaction system 170 includes buttons on the host panel, and the buttons are used for user selection of functions; it may also include a display screen and/or indicator lights and/or horns, and the display screen, indicator lights and horns can show the user the current state of the machine or Feature selections; may also include mobile client programs.
- the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, which can provide users with more abundant and user-friendly function items.
- the cleaning module 150 may include the dry cleaning module 151 and/or the wet cleaning module 400 .
- the dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet.
- the roller brush with certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passing through the dust box.
- the dust removal ability of the sweeper can be characterized by the dust pickup efficiency DPU (Dust pickup efficiency).
- the wind utilization rate of the formed air duct is affected by the type and power of the fan, which is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy.
- the dry cleaning module may also include a side brush 157 having an axis of rotation angled relative to the ground for moving debris into the rolling brush area of the cleaning module 150 .
- FIG. 5 is a schematic diagram of the structure of the dust box 152 in the dry cleaning module
- FIG. 6 is a schematic diagram of the structure of the fan 156 in the dry cleaning module
- FIG. 7 is a schematic diagram of the opened state of the dust box 152
- FIG. 8 It is a schematic diagram of the assembled state of the dust box and the fan.
- the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the dust suction port 154 between the roller brush and the dust box 152, and then is generated by the structure of the fan 156 and passes through the dust box 152.
- the suction gas The dust box 152 is inhaled, and the garbage is isolated by the filter screen 153 on the side of the dust box 152 close to the dust suction port 154.
- the filter screen 153 completely isolates the dust suction port from the air outlet, and the filtered air enters the fan 156 through the air outlet 155.
- the dust suction port 154 of the dust box 152 is located in front of the machine, the air outlet 155 is located at the side of the dust box 152, and the air suction port of the fan 156 is opposite to the air outlet of the dust box.
- the front panel of the dust box 152 can be opened for cleaning the garbage in the dust box 152 .
- the filter screen 153 and the box body of the dust box 152 are detachably connected to facilitate the removal and cleaning of the filter screen.
- the wet cleaning module 400 provided by the present invention is configured to clean at least a part of the operation surface in a wet cleaning manner; wherein, the wet cleaning module 400 includes: a cleaning head 410, A driving unit 420, wherein the cleaning head 410 is used to clean at least a part of the operation surface, and the driving unit 420 is used to drive the cleaning head 410 to reciprocate along a target surface, and the target surface is a part of the operation surface .
- the cleaning head 410 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 410 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through the reciprocating motion, thereby removing the surface to be cleaned. stains.
- the reciprocating motion may be repeated motion along any one or more directions within the operation surface, or may be vibration perpendicular to the operation surface, which is not strictly limited.
- the driving unit 420 includes: a driving platform 421 connected to the bottom surface of the moving platform 100 for providing driving force; a supporting platform 422 detachably connected to the driving platform 421 for supporting The cleaning head 410 can be lifted and lowered under the driving of the driving platform 421 .
- An elevating module is arranged between the cleaning module 150 and the mobile platform 100, so that the cleaning module 150 can better contact the surface to be cleaned, or different cleaning strategies are adopted for the surface to be cleaned of different materials.
- the dry cleaning module 151 can be connected to the mobile platform 100 through a passive lifting module. When the cleaning equipment encounters an obstacle, the dry cleaning module 151 can more easily overcome the obstacle through the lifting module.
- the wet cleaning module 400 can be connected to the mobile platform 100 through an active lifting module. When the wet cleaning module 400 does not work temporarily, or encounters a surface to be cleaned that cannot be cleaned by the wet cleaning module 400 At the time, the wet cleaning module 400 is lifted up by the active lifting module and separated from the surface to be cleaned, so as to realize the change of the cleaning means.
- the driving platform 421 includes: a motor 4211, which is arranged on the side of the driving platform 421 close to the moving platform 100, and outputs power through the motor output shaft; a driving wheel 4212, which is connected with the The motor output shaft is connected, and the driving wheel 4212 is an asymmetrical structure; the vibration member 4213 is arranged on the opposite side of the driving platform 421 to the motor 4211, and is connected with the driving wheel 4212. 4212 realizes reciprocating motion under asymmetrical rotation.
- the drive platform 421 may further include a drive wheel and a gear mechanism.
- the gear mechanism 235 may connect the motor 4211 and the driving wheel 4212 .
- the motor 4211 can directly drive the driving wheel 4212 to perform a rotary motion, or indirectly drive the driving wheel 4212 to perform a rotary motion through a gear mechanism.
- the gear mechanism may be one gear, or may be a gear set composed of multiple gears.
- the motor 4211 transmits the power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water supply mechanism, the water tank and the like at the same time through the power transmission device.
- the energy system 160 provides power and energy for the motor 4211 and is controlled by the control system 130 as a whole.
- the power transmission device may be a gear drive, a chain drive, a belt drive, or a worm gear or the like.
- the motor 4211 includes a forward output mode and a reverse output mode. In the forward output mode, the motor 4211 rotates in the forward direction. In the reverse output mode, the motor 4211 rotates in the reverse direction. In the forward output mode of the motor 4211, the motor 4211 passes through the power transmission device.
- the cleaning head 410 and the water supply mechanism in the wet cleaning assembly 400 can be simultaneously driven to move synchronously.
- the driving platform 421 further includes: a connecting rod 4214, extending along the edge of the driving platform 421, connecting the driving wheel 4212 and the vibration member 4213, so that the vibration member 4213 extends to a preset position, wherein , the extension direction of the vibration member 4213 is perpendicular to the connecting rod 4214 .
- the motor 4211 is connected with the driving wheel 4212 , the vibration member 4213 , the connecting rod 4214 and the vibration buffer device 4215 through the power transmission device.
- the motor 4211 starts to rotate forward, the motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the drive platform 421 through the drive wheel 4212, and the vibration buffer device 4215 drives the vibration member 4213 along the drive platform 421.
- the surface reciprocates, the vibrating member 4213 reciprocates along the surface of the support platform 422 with the cleaning substrate 4221, and the cleaning substrate 4221 reciprocates along the surface to be cleaned with the active area 412.
- the clean water pump makes clean water flow out from the clean water tank, and sprinkles clean water on the cleaning head 410 through the water outlet device 4217, and the cleaning head 410 cleans the surface to be cleaned by reciprocating motion.
- the cleaning intensity/efficiency of the automatic cleaning equipment can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning equipment.
- the automatic cleaning equipment can realize dynamic adjustment according to the physical information of the surface to be cleaned detected by the sensing system 120 .
- the sensing system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, etc., and transmit the information to the control system 130 of the automatic cleaning device.
- the control system 130 can instruct the automatic cleaning equipment to automatically and dynamically adjust the rotational speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning equipment, thereby adjusting the preset reciprocating cycle of the reciprocating motion of the cleaning head 410 .
- the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device is on a less flat ground During operation, the preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger. This is because flat surfaces are easier to clean than less flat surfaces, so cleaning uneven surfaces requires faster reciprocation (ie, higher frequency) of cleaning head 410 and a larger volume of water.
- the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is working on the ground, the The preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger.
- the cleaning head 410 needs to perform fewer reciprocating movements, and the water pump can provide a relatively small amount of water to clean the desktop. clean.
- the supporting platform 422 includes a cleaning substrate 4221 , which is freely movable on the supporting platform 422 , and the cleaning substrate 4221 reciprocates under the vibration of the vibration member 4213 .
- the cleaning substrate 4221 includes: an assembly notch (not shown), which is arranged at a position in contact with the vibration member 4213 , when the support platform 422 is connected to the drive platform 421 , the vibration The member 4213 is assembled in the assembly notch, so that the cleaning substrate 4221 can reciprocate synchronously with the vibration member 4213 .
- FIG. 12 illustrates another cleaning head drive mechanism 800 based on a crank-slider mechanism according to various embodiments of the present application.
- the drive mechanism 800 may be applied to the drive platform 421 .
- the driving mechanism 800 includes a driving wheel 4212, a vibration member 4213, a cleaning substrate 4221, a chute 4222 (a first chute) and a chute 4223 (a second chute).
- the chutes 4222 and 4223 are opened on the support platform 422 . Both ends of the cleaning substrate 4221 include sliders 525 (first sliders) and sliders 528 (second sliders), respectively.
- the sliders 525 and 528 are respectively a protrusion at both ends of the cleaning substrate 4221 .
- the sliding block 525 is inserted in the sliding groove 4222 and can slide along the sliding groove 4222 ;
- the sliding block 4223 is inserted in the sliding groove 4223 and can slide along the sliding groove 4223 .
- the chute 4222 and the chute 4223 are on the same line. In some embodiments, the chute 4222 and the chute 4223 are not on the same line. In some embodiments, the chute 4222 and the chute 4223 extend in the same direction.
- the extending direction of the sliding groove 4222 and the sliding groove 4223 is the same as the extending direction of the cleaning substrate 4221. In some embodiments, the extending directions of the sliding grooves 4222 and the sliding grooves 4223 are different from the extending directions of the cleaning substrate 4221 . In some embodiments, the extending directions of the chute 4222 and the chute 4223 are different. For example, as shown in FIG. 12 , the extension direction of the chute 4222 is the same as the extension direction of the cleaning substrate 4221 , and the extension direction of the chute 4223 and the extension direction of the chute 4222 are at a certain angle.
- the vibrating member 4213 includes a rotating end 512 and a sliding end 514 .
- the rotating end 512 is connected with the driving wheel 4212 through a first pivot shaft 516
- the sliding end 514 is connected with the cleaning substrate 4221 through a second pivot shaft 518 .
- the rotation center of the driving wheel 4212 is point O
- the pivot center of the first pivot shaft 516 is point A.
- Point O and point A do not coincide, and the distance between them is the preset distance d.
- the point A When the driving wheel 4212 rotates, the point A performs a circular rotary motion accordingly.
- the rotary end 512 performs a circular rotary motion following the point A; the sliding end 514 drives the cleaning substrate 4221 to perform sliding motion through the second pivot shaft 518 .
- the slider 525 for cleaning the substrate 4221 reciprocates linearly along the chute 4222 ; the slider 528 performs a reciprocating linear motion along the chute 4223 .
- the moving speed of the moving platform 210 is V0, and the moving direction is the target direction.
- the overall displacement of the cleaning substrate 4221 is substantially perpendicular to the target direction.
- the overall displacement of the cleaning substrate 4221 includes both being perpendicular to the target direction and parallel to the target direction. component in the target direction.
- a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
- FIG. 13 shows another cleaning head driving mechanism 600 based on a double crank mechanism according to various embodiments of the present application.
- the drive mechanism 600 may be applied to the drive platform 421 .
- the driving mechanism 600 includes a driving wheel 4212 (a first driving wheel), a driving wheel 4212' (a second driving wheel), and a cleaning substrate 4221.
- the cleaning substrate 4221 has two ends. The first end is connected to the drive wheel 4212 through a pivot shaft 624 (first pivot shaft); the second end is connected to the drive wheel 4212' through a pivot shaft 626 (second pivot shaft).
- the rotation center of the driving wheel 4212 is point O
- the pivot center of the pivot shaft 624 is point A. Point O and point A do not coincide, and the distance between them is the preset distance d.
- the center of rotation of the drive wheel 236 is the point O'
- the center of rotation of the pivot shaft 626 is the point A'. Point O' and point A' do not coincide, and the distance between them is the preset distance d.
- points A, A', O, and O' lie on the same plane. Therefore, the driving wheel 4212, the driving wheel 4212' and the cleaning substrate 4221 may form a double crank mechanism (or parallelogram mechanism), wherein the cleaning substrate 4221 acts as a coupling lever and the driving wheels 4212 and 4212' act as two cranks.
- a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
- FIG. 14 shows a drive mechanism 700 based on a crank-slider mechanism according to various embodiments of the present application.
- the drive mechanism 700 may be applied to the drive platform 421 .
- the driving mechanism 700 includes a driving wheel 4212 , a cleaning substrate 4221 and a chute 4222 .
- the chute 4222 is opened on the support platform 422 .
- the cleaning substrate 4221 includes a swivel end 4227 and a sliding end 4226 .
- the swivel end 4227 is connected to the drive wheel 4212 by the pivot shaft 4228.
- the pivot center of the driving wheel 4212 is point O
- the pivot center of the pivot shaft 4228 at the pivot end is point A. Point O and point A do not coincide, and the distance between them is the preset distance d.
- Sliding end 4226 includes slider 4225.
- the slider 4225 is a protrusion on the sliding end 4226 .
- the slider 4225 is inserted into the chute 4222 and can slide along the chute 4222 . Therefore, the driving wheel 4221, the cleaning base plate 4221, the slider 4225 and the chute 4222 constitute a crank-slider mechanism.
- the rotary end 4227 of the cleaning substrate 4221 performs a circular rotary motion following the point A; and the slider 4225 slides in the chute 4222 to perform a reciprocating linear motion.
- the cleaning substrate 4221 starts to reciprocate.
- the chute 4222 is approximately perpendicular to the direction of the target direction of the speed of movement of the mobile platform, therefore, the linear movement of the sliding end 4226 includes a component perpendicular to the target direction, and the circular swivel movement of the swivel end 4227 simultaneously Includes components perpendicular to the target direction and parallel to the target direction.
- the moving speed of the mobile platform is V0, and the moving direction is the target direction; and the chute 4222 is approximately perpendicular to the target direction.
- the reciprocating motion of the cleaning substrate 4221 as a whole has both a movement component parallel to the target direction of the automatic cleaning device and a movement component perpendicular to the target direction of the automatic cleaning device.
- a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
- the support platform 422 further includes: an elastic disassembly button 4229, which is disposed on at least one side of the support platform 422, and is used to detachably connect the support platform 422 to the claw 4216 of the drive platform 421. .
- At least one assembling area 4224 is disposed on the supporting platform 422 for assembling the cleaning head 410 .
- the mounting area 4224 may be formed of an adhesive material with an adhesive layer.
- the cleaning head 410 includes: an active area 412 , which is connected to the cleaning substrate 4221 and reciprocates along the cleaning surface under the driving of the cleaning substrate 4221 .
- the active area 412 is disposed at a substantially central position of the cleaning head 410 .
- An adhesive layer is provided on the side where the active area 412 is connected to the cleaning substrate 4221 , and the active area 412 and the cleaning substrate 4221 are connected through the adhesive layer.
- the cleaning head 410 further includes: a fixing area 411 connected to the bottom of the support platform 422 through the at least one assembly area 4224 , and the fixing area 411 cleans the at least a portion of the operating surface.
- the cleaning head 410 further includes: a flexible connecting portion 413 disposed between the fixed area 411 and the active area 412 for connecting the fixed area 411 and the active area 412 .
- the cleaning head 410 further includes: a sliding latch 414 extending along the edge of the cleaning head 410 and detachably installed at the latching position 4225 of the support platform 422 .
- the cleaning head 410 can be made of a certain elastic material, and the cleaning head 410 is fixed on the surface of the support platform 422 through an adhesive layer, thereby realizing reciprocating motion. When the cleaning head 410 is in operation, the cleaning head 410 is always in contact with the surface to be cleaned.
- the water supply mechanism includes a water outlet device 4217, and the water outlet device 4217 can be directly or indirectly connected with the cleaning liquid outlet of the water tank (not shown), that is, the liquid outlet of the clean water tank, wherein the cleaning liquid can pass through the cleaning liquid of the water tank.
- the outlet flows to the water outlet device 4217, and can be evenly coated on the surface to be cleaned by the water outlet device.
- a connecting piece (not shown in the figure) may be provided on the water outlet device, and the water outlet device is connected to the cleaning liquid outlet of the water tank through the connecting piece.
- the water outlet device is provided with a distribution port.
- the distribution port can be a continuous opening or a combination of several broken small openings.
- the distribution port can be provided with several nozzles.
- the cleaning liquid flows to the distribution port through the cleaning liquid outlet of the water tank and the connecting piece of the water outlet device, and is evenly coated on the operating surface through the distribution port.
- the water supply mechanism may further include a clean water pump 4219 and/or a clean water pump pipe 4218 , and the clean water pump 4219 may communicate with the clean liquid outlet of the water tank directly or through the clean water pump pipe 4218 .
- the clean water pump 4219 may be connected to the connection of the water outlet, and may be configured to draw the cleaning fluid from the water tank to the water outlet.
- the clean water pump can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, and the like.
- the water supply mechanism draws out the cleaning liquid in the clean water tank through the clean water pump 4219 and the clean water pump pipe 4218, and transports it to the water outlet device. to wet the cleaning head and the surface to be cleaned. Stains on the wetted surface to be cleaned can be cleaned more easily.
- the power/flow rate of the clean water pump can be adjusted.
- the cleaning head can reciprocate, so that the surface to be cleaned can be repeatedly cleaned, so that in the movement trajectory of the automatic cleaning equipment, one pass through a certain area can achieve multiple
- the cleaning effect is greatly enhanced, especially for areas with more stains, the cleaning effect is obvious.
- the present invention provides a liftable automatic cleaning device, comprising: a mobile platform 100 configured to automatically move on an operating surface; a wet cleaning module 400 movably connected through a four-link lifting structure 500 On the mobile platform 100, it is configured to clean at least a part of the operation surface by a wet cleaning method; wherein, the four-link lifting structure 500 is a parallelogram structure, which is used to make the wet cleaning module 400 in the Switching between a rising state and a sinking state, the rising state is when the wet cleaning module 400 leaves the operation surface, as shown in FIG. 15 ; the sinking state is when the wet cleaning module 400 is attached to the Operation surface, as shown in Figure 16.
- the four-link lifting structure 500 includes: a first connecting end 501 for providing main power to switch the wet cleaning module 400 between a rising state and a sinking state; a second connection end 501
- the connecting end 502 is disposed opposite to the first connecting end 501 and rotates under the action of the main power.
- the first connection end 501 and the second connection end 502 are located on two sides of the wet cleaning module 400 respectively, and the wet cleaning module 400 is raised or lowered by stably providing a lifting force.
- the first connecting end 501 includes a first bracket 5011, which is fixedly connected to the bottom of the mobile platform 100; the first bracket 5011 is roughly in the shape of a “ji”, and the first bracket 5011 includes: a cross beam 50111, a first vertical
- the beams 50114 and the second longitudinal beams 50115 and the tail ends of the first longitudinal beams 50114 and the second longitudinal beams 50115 are respectively connected to the mobile platform 100 by bolts, so as to provide supporting force when the wet cleaning module 400 is lifted and lowered.
- the first connecting end 501 further includes a first connecting rod pair 5012 , one end of the first connecting rod pair 5012 is rotatably connected to the first bracket 5011 , and the other end is rotatably connected to the wet cleaning module 400 .
- the first connecting rod pair 5012 can be a hollow structure, which can reduce the overall weight of the lifting end.
- the first connecting rod pair 5012 includes a first connecting rod 50121 and a second connecting rod 50122 that are arranged in parallel, and the first ends of the first connecting rod 50121 and the second connecting rod 50122 can be connected through movable studs. It is rotatably connected to the first longitudinal beam 50114, and the second ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the wet cleaning module 400 through movable studs.
- both ends of the first connecting rod 50121 and the second connecting rod 50122 are respectively provided with through holes with a diameter larger than that of the movable stud, so that the movable stud can rotate freely in the through hole, and the movable stud passes through the through hole
- the rear is fixedly connected to the first longitudinal beam 50114 .
- the lifting structure 500 further includes a pulling cable 42194, which is used to provide a pulling power to rotate the first connecting rod pair 5012 within a preset angle.
- the cable 42194 includes a cable motor terminal 50131, which is connected to the drive unit 420, such as a gear winding connected to the motor output shaft, and realizes telescopic movement under the rotation of the motor.
- the cable bracket terminal 50132 is connected to the first bracket 5011, and the motor makes the second ends of the first connecting rod 50121 and the second connecting rod 50122 rise or sink through the cable 42194.
- the first bracket 5011 further includes: a chute 50112 extending along the surface of the cross beam 50111, and a snap hole 50113 extending through the cross beam 50111 and disposed at the extended end of the chute 50112 for accommodating and Snap the cable bracket terminal 50132, the cable 42194 is connected to the first ends of the first connecting rod 50121 and the second connecting rod 50122 through the sliding groove 50112 and the clamping hole 50113, and the sliding groove 50112 can restrict The moving direction of the cable ensures the stability of the lifting and lowering of the module, and the width of the chute should match the thickness of the cable.
- the second connecting end 502 includes: a second bracket 5021, which is fixedly connected to the bottom of the mobile platform 100; a second connecting rod pair 5022, one end of which is rotatably connected to the second bracket 5021, The other end is rotatably connected to the wet cleaning module 400 ; the second connecting rod pair 5022 rotates with the rotation of the first connecting rod pair 5012 .
- the second connecting rod pair 5022 can be a hollow structure, which can reduce the overall weight of the lifting end.
- the second connecting rod pair 5022 includes a third connecting rod 50221 and a fourth connecting rod 50222 arranged in parallel, and the first ends of the third connecting rod 50221 and the fourth connecting rod 50222 are rotatable through movable studs
- the second end of the third connecting rod 50221 and the fourth connecting rod 50222 are rotatably connected to the wet cleaning module 400 through movable studs.
- both ends of the third connecting rod 50221 and the fourth connecting rod 50222 are respectively provided with through holes with a diameter larger than that of the movable stud, so that the movable stud can rotate freely in the through hole, and the movable stud passes through the through hole
- the latter is fixedly connected to the second bracket 5021 and the wet cleaning module 400 .
- the first connecting end 501 When the first connecting end 501 is rotated under the driving of the motor 4211, the first ends of the third connecting rod 50221 and the fourth connecting rod 50222 rotate around the movable stud at the first end at the same time, and the third connecting rod 50221 The second end of the fourth connecting rod 50222 rotates around the movable stud at the second end at the same time, so that the wet cleaning module 400 is raised.
- the first connecting end 501 releases the tension
- the third connecting rod 50221 and the fourth connecting rod 50222 rotate in the opposite direction around the movable stud at the same time, and descend under the action of gravity, so that the wet cleaning module 400 sinks.
- the wet cleaning module can be raised and lowered relative to the mobile platform, and when the mopping task is performed, the wet cleaning module is lowered to make the wet cleaning module In contact with the ground, when the mopping task is completed, lift the wet cleaning module to separate the wet cleaning module from the ground, so as to avoid the increased resistance due to the existence of the cleaning module when the cleaning equipment moves freely on the surface to be cleaned. .
- the lifting module can clean the wet cleaning module according to different surfaces to be cleaned, such as lifting the wet cleaning module on the carpet surface and placing it on the floor / Floor tiles and other surfaces, put the wet cleaning module down for cleaning, so as to achieve a more comprehensive cleaning effect.
- the carpet media is regarded as an obstacle, and the obstacle can be avoided when cleaning the ground.
- the carpet area will be detected, and it may even be necessary to clean the carpet. At this time, obtaining a detailed map of the carpet area can help the automatic cleaning device to clean the carpet. .
- the map drawing method may include the following steps: step S2010 , scanning the boundary of the surface medium area to generate an initialization area; step S2020 , setting the initialization area Merge the boundary coordinates of the merged areas to obtain a merged area; step S2030, split the merged area into multiple sub-areas according to a preset shape, and draw the surface medium area boundary according to the sub-areas and the merged area to obtain a surface media area map.
- the boundary of the surface medium area is scanned, and an initialization area is generated, and a smooth merged area can be obtained according to the initialization area, and the surface can be drawn by combining the sub-areas and the merged area.
- the boundary of the medium area can be drawn, so that the surface medium area map can be drawn.
- the obtained surface medium area map has a smooth boundary, which makes the surface medium area map more accurate, which is beneficial to the automatic cleaning equipment for subsequent cleaning and positioning of the surface medium area or its edge area.
- map drawing method can be used not only for the map drawing of a single surface medium area, but also for the map drawing of the second surface medium area located in the first surface medium area.
- the surface medium is one or more of the wood floor, carpet, ceramic tile, cement surface and other floor surface media;
- the second surface medium is the wood floor, carpet, ceramic tile, cement surface and other floor surface media that are different from the first surface medium one or more of.
- the automatic cleaning device cleans in the first surface medium area
- the surface medium sensor 103 of the automatic cleaning device detects the second surface medium area
- it will record the second surface medium area. Location.
- the automatic cleaning device will enter the surface medium area drawing module to draw the second surface medium area map for subsequent reference calls.
- scanning the boundary of the surface media area to map the surface media area includes scanning the boundary of the surface media area to generate an initialization area.
- a surface media area identification device eg, a surface media sensor that can identify surface media
- a surface media area identification device may be used to scan the boundary of the surface media area, such as a carpet identification device to scan the boundary of the carpet area.
- the initialization area 2100 as shown in FIG. 20 can be produced according to the scanned boundary, and the initialization area 2100 can also be recorded in the automatic cleaning equipment.
- the boundary coordinates of the initialization area 2100 may be combined, for example, two or more adjacent boundary coordinates may be combined into one coordinate, and specifically, the average coordinate of two or more adjacent boundary coordinates may be taken.
- the boundary coordinates of the merged area to obtain a merged area 2200 that is smoother than the boundary of the initialization area 2100 as shown in FIG. 21 .
- the merged area 2200 can also be stored in the automatic cleaning device for reference during subsequent cleaning.
- the merged area 2200 needs to be split according to a preset shape to form multiple sub-areas 2301 and 2302, and the multiple sub-areas 2301 , 2302, etc. are stored in the automatic cleaning equipment, and in the subsequent cleaning process, local sub-area cleaning can be performed as needed.
- each sub-region needs to be smoothed according to a preset shape, so as to obtain a surface medium region map with beautified edges.
- the smallest unit that the automatic cleaning equipment can identify is the point coordinates, and these point coordinates will enclose the initialization area, that is, the initialization area is composed of multiple initial boundary coordinates.
- the merged region is also composed of multiple merged boundary coordinates.
- the merged boundary coordinates outside the sub-area close to the sub-area may be deleted, for example, redundant merged boundary coordinate points in FIG. 22 may be deleted. 2303, so that redundant coordinate data can be removed, so that the drawn surface medium area map is closer to conventional shapes such as preset shapes, avoid drawing unconventional maps such as conical shapes with sharp boundaries, and improve the drawn surface medium area map. Accuracy provides a more precise reference for subsequent cleaning of automatic cleaning equipment.
- FIG. 23 shows an example of a surface medium area map 2400 drawn according to the map drawing method provided by the exemplary embodiment of the present disclosure.
- the merged boundary coordinates outside the sub-areas and close to the sub-areas here refer to the merged boundary coordinates located outside all sub-areas.
- it can be determined according to the shortest distance from the sub-area boundary.
- the combined boundary coordinates are determined to be the combined boundary coordinates of the outer adjacent sub-region.
- the size of the preset length may be set according to the actual situation, for example, determined according to the size of the sub-region, which is not particularly limited in this exemplary embodiment.
- the remaining merged boundary coordinates can be sequentially connected with lines to draw a smoother surface medium area boundary, so as to obtain
- the edged surface media area map provides the basis.
- the surface medium mark After the surface medium area boundary is drawn, the surface medium mark needs to be filled inside the surface medium area boundary to obtain the surface medium area map.
- the surface medium mark may be a color mark, that is, the inside of the boundary of the surface medium area is filled with a different color from other surface medium areas to show the difference; or, the surface medium mark may be a mark that can be easily distinguished by other machines such as automatic cleaning equipment, the present disclosure
- the exemplary embodiment is not particularly limited thereto.
- the preset shape may be a square, a circle, or other shapes such as a rhombus.
- the sub-region 2301 determined according to the preset shape is a square region, and the sub-region 2302 is a circular region.
- the exemplary embodiment of the present disclosure does not specifically limit the specific preset shape.
- the surface medium area can also be stored in the memory of the automatic cleaning device, and then the surface medium area can be sent to the user terminal together with the stored room map through the automatic cleaning device, so as to facilitate the user to view A room map with a surface medium area map to facilitate the user's later control operations.
- the automatic cleaning device also includes other functions that help realize the overall operation, which will not be repeated in this exemplary embodiment.
- a map drawing apparatus is also provided, which is arranged in an automatic cleaning device including a surface medium sensor.
- the map drawing apparatus 2500 may include: a boundary scan module 2501, Area merging module 2502, and map drawing module 2503. :
- the boundary scan module 2501 is used to scan the boundary of the surface medium area to generate an initialization area.
- the region merging module 2502 is configured to merge the boundary coordinates of the initialization region to obtain a merged region.
- the map drawing module 2503 is configured to divide the merged area into a plurality of sub-areas according to a preset shape, and draw the boundary of the surface medium area according to the sub-areas and the merged area, so as to obtain a map of the surface medium area.
- the map display method may include the following steps: step S2510 , acquiring room map data and area map data; step S2520 , drawing according to the room map data For the room map, draw an area map layer on the room map according to the area map data; step S2530, display the room map covered with the area map layer.
- the map display method provided by the exemplary embodiment of the present disclosure is used for the user equipment interacting with the automatic cleaning device.
- the user equipment After the user equipment obtains the room map data and the area map data sent by the automatic cleaning device, it can generate the map data from the room map data.
- the area map layer On the room map of the , the area map layer is drawn based on the area map data, so that the room map covered with the area map layer can be obtained, and the room map can be displayed through the user equipment. That is to say, while the room map is displayed on the user device, the area map layer is also displayed on the room map, thereby helping the user to more accurately locate the cleaning area for controlling the automatic cleaning device.
- the user can control the automatic cleaning device to clean the carpet through the room map with the carpet layer displayed on the user device.
- the user can even designate the automatic cleaning device to clean only part of the carpets, thereby improving the user's operability and improving the The intelligent control of automatic cleaning equipment improves user experience.
- the automatic cleaning device when the automatic cleaning device sends the room map data and the area map data to the user equipment, it can be sent after responding to the user's carpet operation instruction, or it can be sent after acquiring the room map data and the area map data. , which is not particularly limited in the exemplary embodiment of the present disclosure.
- the automatic cleaning equipment usually includes room boundary coordinate data in the obtained room map data, and the obtained area map data usually includes area boundary coordinate data. Whether it is room boundary coordinate data or area boundary coordinate data, it is automatic cleaning.
- the equipment is obtained during the boundary scanning process according to its minimum identification unit, which is usually a coordinate point, that is to say, both the room boundary coordinate data and the area boundary coordinate data are composed of boundary coordinate points.
- the room boundary coordinate data may be obtained by the automatic cleaning equipment during the cleaning process along the wall
- the area boundary coordinate data may be obtained by the automatic cleaning equipment during the scanning process along the area boundary, for example, along the outside of the carpet boundary edge scan.
- drawing the room map according to the room map data includes: first determining the shape of the room map layer according to the room boundary coordinate data, so that the determined shape of the room map layer matches the real room map shape , so that the room map can be drawn on this room map layer.
- determining the shape of the room map layer according to the room boundary coordinate data may be to determine the shape of the room boundary according to the room boundary coordinate data, and then determine the shape of the room map layer according to the shape of the room boundary.
- the shape of a common room map layer may be a square, etc., which is not limited by the exemplary embodiment of the present disclosure.
- the size of the room map layer After determining the shape of the room map layer, it is also necessary to determine the size of the room map layer. According to the actual situation, you can use the room map layer with the same size as the area enclosed by the room boundary, or you can use the room map layer larger or smaller than the room boundary. A room map layer for the size of the enclosed area.
- the exemplary embodiments of the present disclosure are not particularly limited thereto.
- the room boundary coordinate data can be drawn on the room map layer one by one, so that the room map can be obtained.
- the area map layer needs to be drawn on the room map to cover the area map layer in the room map, so that the room map including the area map can be obtained.
- the user can control the automatic cleaning equipment to clean the designated area according to his own needs, so as to meet the diverse needs of the user.
- drawing the area map layer on the room map may specifically include: drawing the area map layer on the room map according to the area map data. Since the room map data and the area map data are in the same two-dimensional space, the location relationship between the room map and the area map layer can be determined based on the room map data and the area map data. The location relationship is the room map and the area map. Relative position between area map layers.
- the area map layer can be drawn on the room map, and the room map covered with the area map layer can be obtained.
- drawing the area map layer on the room map according to the positional relationship may be to draw the area map layer directly at the corresponding position, or it may be to divide the area from the room map 2600 as shown in FIG. 26 .
- the sub-area 2602 corresponding to the map layer 2601, and the room map layer 2601 is drawn on the sub-area 2602.
- the sub-region 2602 can also be enlarged by a preset ratio, and the unit corresponding to the regional map data can be drawn on the enlarged sub-region 2602 to obtain the regional map layer 2601.
- the corresponding units may be point units or linear units, and the area map layer 2601 can be obtained by drawing these point units or linear units on the enlarged sub-area 2602 one by one.
- these point units may also be connected in sequence to obtain the area map layer 2601 .
- the accuracy of point unit or linear unit positioning can be improved, so that the drawn area map layer 2601 is closer to the actual situation.
- the drawing process can also be displayed on the user device to improve the user experience.
- there is no need to enlarge other regions so that the amount of data calculation can be further reduced, and the rendering efficiency can be improved.
- the size of the enlarged sub-area 2602 can be restored, and the sub-area 2602 can be merged into the room map 2600, so that the area map layer 2601 can be covered on the room map 2600, and the result is Room map 2600 with area map layer 2601 for display on the user device.
- the area of the divided sub-region 2602 needs to be larger than the area of the regional map layer 2601, so that the regional map layer 2601 can be drawn in the sub-region 2602, and the omission of regional map data is avoided.
- the shape of the sub-region 2602 may be determined according to the actual situation.
- the shape of the sub-region 2602 is determined as a rectangle, for example, the sub-region 2602 may be composed of a rectangular array.
- the room map can also be divided into multiple sub-regions, the sub-region where the region map layer is located is determined according to the positional relationship between the room map and the region map layer, and the above-mentioned sub-region is performed on the sub-region.
- the steps of drawing a regional map layer will not be repeated here.
- the process of acquiring the room map data by the automatic cleaning device may include: scanning the wall border of the room to acquire the room map data.
- the process of acquiring the area map data by the automatic cleaning device may include: scanning the boundary of a surface medium area in a room, such as a carpet area, to generate an initialization area.
- the surface medium region identification device may be used to scan the boundary of the surface medium region, for example, the carpet identification device 103 may be used to scan the boundary of the carpet region.
- the initialization area 2700 as shown in FIG. 27 can be produced according to the scanned boundary, and the initialization area 2700 is recorded in the automatic cleaning equipment.
- the boundary coordinates of the initialization area 2700 can be combined, for example, adjacent boundary coordinates can be combined into one coordinate, for example, the average value of the adjacent boundary coordinates can be obtained to obtain the ratio of the initialization area 2700 as shown in FIG. 28 .
- the boundary data corresponding to the merged area 2800 may be stored in the automatic cleaning device as the area map data, so as to be sent to the user device.
- a map display apparatus is also provided, which is set in the user equipment.
- the map display apparatus 2900 may include: a data acquisition module 2901, a map drawing module 2902, And the map display module 2903.
- the data acquisition module 2901 is used for acquiring room map data and area map data.
- the map drawing module 2902 is configured to draw a room map according to the room map data, and draw an area map layer on the room map according to the area map data.
- the map display module 2903 is configured to display the room map covered with the area map layer.
- map display device modules have been described in detail in the corresponding map display methods, and therefore are not repeated here.
- an electronic device capable of implementing the above method is also provided.
- aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention can be embodied in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, which may be collectively referred to herein as implementations "circuit", “module” or "system”.
- FIG. 30 An electronic device 3000 according to this embodiment of the present invention is described below with reference to FIG. 30 .
- the electronic device 3000 shown in FIG. 30 is only an example, and should not impose any limitations on the functions and scope of use of the embodiments of the present invention.
- electronic device 3000 takes the form of a general-purpose computing device.
- the components of the electronic device 3000 may include, but are not limited to: the above-mentioned at least one processing unit 3010, the above-mentioned at least one storage unit 3020, a bus 3030 connecting different system components (including the storage unit 3020 and the processing unit 3010), and a display unit 3040.
- the storage unit 3020 stores program codes, which can be executed by the processing unit 3010, so that the processing unit 3010 executes various examples according to the present invention described in the above "Exemplary Methods" section of this specification steps of sexual implementation.
- the processing unit 3010 can perform step S2010 as shown in FIG. 19 , scan the boundary of the surface medium area to generate an initialization area; step S2020 , merge the boundary coordinates of the initialization area to obtain a merged area; step S2030 , combine The merged area is divided into multiple sub-areas according to the preset shape, and the boundary of the surface medium area is drawn according to the sub-areas and the merged area to obtain the surface medium area map.
- the processing unit 3010 may perform step S2510 as shown in FIG. 25 , obtaining room map data and area map data; step S2520 , drawing a room map according to the room map data, and drawing an area on the room map according to the area map data Map layer; Step S2530, display the room map covered with the regional map layer.
- the storage unit 3020 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 30201 and/or a cache storage unit 30202 , and may further include a read only storage unit (ROM) 30203 .
- RAM random access storage unit
- ROM read only storage unit
- the storage unit 3020 may also include a program/utility 30204 having a set (at least one) of program modules 30205 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, An implementation of a network environment may be included in each or some combination of these examples.
- the bus 3030 may be representative of one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area using any of a variety of bus structures. bus.
- the electronic device 3000 may also communicate with one or more external devices 3070 (eg, keyboards, pointing devices, Bluetooth devices, etc.), with one or more devices that enable a user to interact with the electronic device 3000, and/or with Any device (eg, router, modem, etc.) that enables the electronic device 3000 to communicate with one or more other computing devices. Such communication may take place through input/output (I/O) interface 3050 . Also, the electronic device 3000 may communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through a network adapter 3060. As shown, network adapter 3060 communicates with other modules of electronic device 3000 through bus 3030. It should be understood that, although not shown, other hardware and/or software modules may be used in conjunction with electronic device 3000, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives and data backup storage systems.
- the exemplary embodiments described herein may be implemented by software, or may be implemented by software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure may be embodied in the form of software products, and the software products may be stored in a non-volatile storage medium (which may be CD-ROM, U disk, mobile hard disk, etc.) or on the network , including several instructions to cause a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to an embodiment of the present disclosure.
- a computing device which may be a personal computer, a server, a terminal device, or a network device, etc.
- a computer-readable storage medium on which a program product capable of implementing the above-described method of the present specification is stored.
- aspects of the present invention can also be implemented in the form of a program product comprising program code for enabling the program product to run on a terminal device The terminal device performs the steps according to various exemplary embodiments of the present invention described in the "Example Method" section above in this specification.
- a program product for implementing the above method according to an embodiment of the present invention may adopt a portable compact disc read only memory (CD-ROM) and include program codes, and may run on a terminal device, such as a personal computer.
- CD-ROM compact disc read only memory
- the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
- the program product may employ any combination of one or more readable media.
- the readable medium may be a readable signal medium or a readable storage medium.
- the readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
- a computer readable signal medium may include a propagated data signal in baseband or as part of a carrier wave with readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
- a readable signal medium can also be any readable medium, other than a readable storage medium, that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
- Program code embodied on a readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
- Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural Programming Language - such as the "C" language or similar programming language.
- the program code may execute entirely on the user computing device, partly on the user device, as a stand-alone software package, partly on the user computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.
- the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using an Internet service provider business via an Internet connection).
- LAN local area network
- WAN wide area network
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Abstract
Description
Claims (10)
- 一种地图绘制方法,包括:扫描表面介质区域的边界,生成初始化区域;将所述初始化区域的边界坐标进行合并,得到合并区域;将所述合并区域按照预设形状拆分成多个子区域,根据所述子区域和所述合并区域绘制表面介质区域边界,以获得表面介质区域地图。
- 根据权利要求1所述的地图绘制方法,其中,所述初始化区域包括多个初始边界坐标;所述合并区域包括多个合并边界坐标。
- 根据权利要求2所述的地图绘制方法,其中,根据所述子区域和所述合并区域绘制表面介质区域边界包括:将所述子区域外侧靠近所述子区域的所述合并边界坐标删除,顺次连接剩余的所述合并边界坐标,以绘制所述表面介质区域边界。
- 根据权利要求3所述的地图绘制方法,其中,在绘制出所述表面介质区域边界之后,所述方法还包括:在所述表面介质区域边界内部填充表面介质标记,以获得所述表面介质区域地图。
- 根据权利要求1所述的地图绘制方法,其中,将所述初始化区域的边界坐标进行合并,得到合并区域包括:将所述初始化区域中相邻的边界坐标进行合并,得到所述合并区域。
- 根据权利要求1所述的地图绘制方法,其中,所述方法还包括:在获得所述表面介质区域地图后,将所述表面介质区域地图存储于自动清洁设备中,并通过所述自动清洁设备发送至用户终端。
- 根据权利要求1-6任一项所述的地图绘制方法,其中,所述预设形状为方形、圆形和菱形之一。
- 一种地图绘制装置,包括:边界扫描模块,用于扫描表面介质区域的边界,生成初始化区域;区域合并模块,用于将所述初始化区域的边界坐标进行合并,得到 合并区域;地图绘制模块,用于将所述合并区域按照预设形状拆分成多个子区域,根据所述子区域和所述合并区域绘制表面介质区域边界,以获得表面介质区域地图。
- 一种计算机可读存储介质,其上存储有计算机程序,其中,所述计算机程序被处理器执行时实现权利要求1-7任一项所述的地图绘制方法。
- 一种电子设备,包括:处理器;以及存储器,用于存储所述处理器的可执行指令;其中,所述处理器配置为经由执行所述可执行指令来执行权利要求1-7任一项所述的地图绘制方法。
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CN202110184843.1A CN113693494B (zh) | 2021-02-10 | 2021-02-10 | 地图绘制方法及装置、介质及电子设备 |
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