CN106175606B - The method, apparatus that robot and its realization independently manipulate - Google Patents
The method, apparatus that robot and its realization independently manipulate Download PDFInfo
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- CN106175606B CN106175606B CN201610678042.XA CN201610678042A CN106175606B CN 106175606 B CN106175606 B CN 106175606B CN 201610678042 A CN201610678042 A CN 201610678042A CN 106175606 B CN106175606 B CN 106175606B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The disclosure is directed to a kind of robot and its realize the method, apparatus independently manipulated, which may include: sensory perceptual system, and the sensory perceptual system is for perceiving the ambient enviroment of robot；Control system, the control system obtain the perception data of the sensory perceptual system, and the zone of action of the robot is determined according to the perception data and Predistribution Algorithm；The zone of action includes multiple blocks, and the control system can handle the multiple block, and the specification for the block that makes that treated is not less than default specification, so that the robot can execute predetermined registration operation in block after the treatment.Pass through the technical solution of the disclosure, it can be ensured that comprehensive covering of the robot to zone of action.
Description
Technical field
This disclosure relates to robotic technology field more particularly to a kind of robot and its realization independently manipulate method, dress
It sets.
Background technique
Robot with autonomous manipulation ability, can determine the behaviour area of itself by actively perceive surrounding enviroment
Domain.Since zone of action is larger, for classifying rationally route, improving energy efficiency, after zone of action being divided into several blocks,
Each block is run to respectively, and predetermined registration operation is independently completed in block.Robot has certain volume, and there are corresponding skies
Between occupy so that only when block itself is not less than the occupied space of robot, robot can enter the block and hold
Row predetermined registration operation.
But the block that zone of action marks off is not always able to meet the space hold of robot, leads to robot
The too small block of some specifications may be cannot be introduced into and carry out predetermined registration operation, to can not be covered comprehensively to zone of action.
Summary of the invention
The disclosure provides a kind of robot and its realizes the method, apparatus independently manipulated, to solve in the related technology not
Foot.
According to the first aspect of the embodiments of the present disclosure, a kind of robot with autonomous manipulation function is provided, comprising:
Sensory perceptual system, the sensory perceptual system is for perceiving the ambient enviroment of robot；
Control system, the control system obtain the perception data of the sensory perceptual system, according to the perception data and
Predistribution Algorithm determines the zone of action of the robot；The zone of action includes multiple blocks, and the control system can be right
The multiple block is handled, and the specification for the block that makes that treated is not less than default specification, so that the robot can be
Predetermined registration operation is executed in treated the block.
Optionally, the sensory perceptual system includes: range unit, for detecting between the robot and peripheral obstacle
Distance；Wherein, the distance that the range unit measures is by as the perception data.
Optionally, the Predistribution Algorithm includes positioning immediately and map structuring algorithm.
Optionally, the control system is handled the multiple block using following manner:
When the specification of either block is less than the default specification, the either block is extended into model towards adjacent block
It encloses, so that the specification after the either block is extended is not less than the default specification.
Optionally, the control system will be set as the repeatable area for executing the predetermined registration operation by the block of extension process
Block.
Optionally, when the artificial autonomous cleaning devices of the machine, the zone of action is the autonomous cleaning devices
Region is cleaned, the predetermined registration operation is cleaning action.
According to the second aspect of an embodiment of the present disclosure, a kind of control robot method that realization independently manipulates is provided, comprising:
Determine the zone of action of the robot；
The zone of action is divided into multiple blocks；
The multiple block is handled, the specification for the block that makes that treated is not less than default specification, so that the machine
Device people can execute predetermined registration operation in block after the treatment.
It is optionally, described that the multiple block is handled, comprising:
When the specification of either block is less than the default specification, the either block is extended into model towards adjacent block
It encloses, so that the specification after the either block is extended is not less than the default specification.
Optionally, further includes:
The repeatable block for executing the predetermined registration operation will be set as by the block of extension process.
Optionally, when the artificial autonomous cleaning devices of the machine, the zone of action is the autonomous cleaning devices
Region is cleaned, the predetermined registration operation is cleaning action.
According to the third aspect of an embodiment of the present disclosure, a kind of control robot device that realization independently manipulates is provided, comprising:
Determination unit determines the zone of action of the robot；
The zone of action is divided into multiple blocks by division unit；
Processing unit handles the multiple block, and the specification for the block that makes that treated is not less than default specification, with
Enable to execute predetermined registration operation in the block of the robot after the treatment.
Optionally, the processing unit includes:
Subelement is extended, when the specification of the either block is less than the default specification, by the either block direction
Adjacent block spreading range, so that the specification after the either block is extended is not less than the default specification.
Optionally, further includes:
Setting unit will be set as the repeatable block for executing the predetermined registration operation by the block of extension process.
Optionally, when the artificial autonomous cleaning devices of the machine, the zone of action is the autonomous cleaning devices
Region is cleaned, the predetermined registration operation is cleaning action.
The technical scheme provided by this disclosed embodiment can include the following benefits:
As can be seen from the above embodiments, the disclosure is by being added to block specification when dividing the zone of action of robot
It considers, by being handled block and being made it to be not less than default specification, it is ensured that robot can smoothly enter into the institute marked off
There is block and execute predetermined registration operation, realizes comprehensive covering to zone of action.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Fig. 1-4 is a kind of structural schematic diagram of robot shown according to an exemplary embodiment.
Fig. 5 A-5C is a kind of signal that block is divided in zone of action proposed according to one exemplary embodiment of the disclosure
Figure.
Fig. 6 is the process that a kind of control robot shown according to an exemplary embodiment realizes the method independently manipulated
Figure.
Fig. 7 is the process that autonomous clean method is realized according to a kind of control robot of one exemplary embodiment of the disclosure
Figure.
Fig. 8-14 is a kind of schematic diagram that block is divided in cleaning region shown according to an exemplary embodiment.
Figure 15-17 is the frame that a kind of control robot shown according to an exemplary embodiment realizes the device independently manipulated
Figure.
Figure 18 is a kind of device independently manipulated for controlling robot realization shown according to an exemplary embodiment
Structural schematic diagram.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Fig. 1-4 is a kind of structural schematic diagram of robot shown according to an exemplary embodiment, as shown in Figs 1-4, machine
Device people 100 can may include machine body for autonomous cleaning devices, the robots 100 such as sweeping robot, floor-mopping robots
110, sensory perceptual system 120, control system 130, drive system 140, cleaning systems 150, energy resource system 160 and man-machine interactive system
170.Wherein:
Machine body 110 includes forward portion 111 and backward part 112, and having approximate circular shape, (front and back is all round
Shape), there can also be other shapes, the approximate D-shape of circle including but not limited to behind front.
Sensory perceptual system 120 includes positioned at the position determining means 121 of 110 top of machine body, positioned at machine body 110
The buffer 122 of forward portion 111, steep cliff sensor 123 and ultrasonic sensor (not shown), infrared sensor are (in figure
Be not shown), magnetometer (not shown), accelerometer (not shown), gyroscope (not shown), odometer (figure
In be not shown) etc. sensing devices, to control system 130 provide machine various positions information and movement state information.Position is true
Determining device 121 includes but is not limited to camera, laser ranging system (LDS).Below with the laser ranging system of triangle telemetry
For illustrate how carry out position determine.The basic principle of triangle telemetry is based on the equal than relationship of similar triangles, herein not
It repeats.
Laser ranging system includes luminescence unit and light receiving unit.Luminescence unit may include the light source for emitting light, light source
It may include light-emitting component, such as the infrared or luminous ray light emitting diode (LED) of transmitting infrared light or luminous ray.It is excellent
Selection of land, light source can be the light-emitting component of transmitting laser beam.In the present embodiment, the example by laser diode (LD) as light source
Son.Specifically, due to the monochrome of laser beam, orientation and collimation property, use the light source of laser beam can make measurement compared to
Other light are more accurate.For example, the infrared light or luminous ray of light emitting diode (LED) transmitting are by week compared to laser beam
Such environmental effects (such as color or texture of object) is enclosed, and may be decreased in measurement accuracy.Laser diode
(LD) it can be dot laser, measure the two-dimensional position information of barrier, be also possible to line laser, measure the certain model of barrier
Enclose interior three dimensional local information.
Light receiving unit may include imaging sensor, and the light for being reflected by barrier or being scattered is formed on the imaging sensor
Point.Imaging sensor can be the set of single or plurality of rows of multiple unit pixels.These light receiving elements can be by optical signal
Be converted to electric signal.Imaging sensor can be complementary metal oxide semiconductor (CMOS) sensor or charge coupled cell
(CCD) sensor, since the advantage in cost is preferably complementary metal oxide semiconductor (CMOS) sensor.Moreover, light
Unit may include sensitive lens component.The light for being reflected by barrier or being scattered can advance via sensitive lens component to scheme
As forming image on sensor.Sensitive lens component may include single or multiple lens.
Base portion can support luminescence unit and light receiving unit, and luminescence unit and light receiving unit are arranged on base portion and to each other
Every a specific range.For the barrier situation around robot measurement on 360 degree of directions, base portion can be made to be rotatably arranged
In main body 110, it can not also be rotated with base portion itself and rotate transmitting light, reception light by the way that rotating element is arranged.
The angular velocity of rotation of rotating element can be obtained by setting optic coupling element and code-disc, and optic coupling element incudes the tooth on code-disc and lacks,
By tooth lack spacing slip over time and tooth lack between distance value be divided by instantaneous angular velocity can be obtained.The scarce density of tooth is got on code-disc
Greatly, the accuracy rate and precision of measurement are also just corresponding higher but just more accurate in structure, and calculation amount is also higher；Conversely, tooth lacks
Density it is smaller, the accuracy rate and precision of measurement are accordingly also lower, but can be relatively easy in structure, and calculation amount is also got over
It is small, some costs can be reduced.
The data processing equipment connecting with light receiving unit, such as DSP, will be relative to all angles on 0 degree of angular direction of robot
Obstacle distance value at degree records and sends to the data processing unit in control system 130, such as the application processing comprising CPU
Device (AP), location algorithm of the CPU operation based on particle filter obtain the current location of robot, and are charted according to this position, supply
Navigation uses.It is preferable to use instant positioning and map structuring (SLAM) for location algorithm.
Although the laser ranging system based on triangle telemetry can measure the infinity other than certain distance in principle
Distance value at distance, but actually telemeasurement, such as 6 meters or more, realization be it is very difficult, be primarily due to light
The size limitation of pixel unit on the sensor of unit, while also by the photoelectric conversion speed of sensor, sensor and connection
The calculating speed of data transmission bauds, DSP between DSP influences.The measured value that laser ranging system is affected by temperature
The variation that meeting generating system can not put up with, the thermal expansion that the structure being primarily due between luminescence unit and light receiving unit occurs become
Shape leads to the angle change between incident light and emergent light, and luminescence unit and light receiving unit itself can also have temperature drift.Swash
Optical range finding apparatus be used for a long time after, as many factors such as temperature change, vibration accumulate and caused by deformation also can serious shadow
Ring measurement result.The accuracy of measurement result directly determines the accuracy of map making, is robot further progress strategy
The basis of implementation, it is particularly important.
The forward portion 111 of machine body 110 can carry buffer 122, and driving wheel module 141 promotes during cleaning
In ground running, buffer 122 detects the traveling of robot 100 via sensing system, such as infrared sensor for robot
One or more events (or object) in path, robot can by the event (or object) that is detected by buffer 122, such as
Barrier, wall, and controlling driving wheel module 141 makes robot to respond to the event (or object), for example away from
Barrier.
Control system 130 is arranged on the circuit main board in machine body 110, including with non-transitory memory, such as
Hard disk, flash memory, random access memory, the computation processor of communication, such as central processing unit, application processor,
The obstacle information that application processor is fed back according to laser ranging system draws institute of robot using location algorithm, such as SLAM
Instant map in the environment.And combining buffer 122, steep cliff sensor 123 and ultrasonic sensor, infrared sensor, magnetic
Range information, the velocity information comprehensive descision sweeper of the sensing devices such as power meter, accelerometer, gyroscope, odometer feedback are worked as
It is preceding which kind of working condition be in, threshold is such as crossed, upper carpet is located at steep cliff, and either above or below is stuck, and dirt box is full, is taken
Rise etc., also specific next step action policy can be provided for different situations, so that the work of robot is more in line with owner
Requirement, have better user experience.Further, the instant map information planning that control system 130 can be drawn based on SLAM
Cleaning path the most efficient and rational and cleaning method greatly improve the sweeping efficiency of robot.
Drive system 140 can based on have distance and angle information, such as x, y and θ component drive command and manipulate machine
Device people 100 crosses over ground run.Drive system 140 includes driving wheel module 141, and driving wheel module 141 can control a left side simultaneously
Wheel and right wheel, in order to more accurately control the movement of machine, preferably driving wheel module 141 respectively include left driving wheel module and
Right driving wheel module.Left and right driving wheel module is opposed along the lateral shaft defined by main body 110.In order to which robot can be on ground
It is moved more stablely on face or stronger locomitivity, robot may include one or more driven wheel 142, driven
Wheel includes but is not limited to universal wheel.Driving wheel module includes traveling wheel and drive motor and the control electricity for controlling drive motor
Road, driving wheel module can also connect the circuit and odometer of measurement driving current.Driving wheel module 141 can removably connect
It is connected in main body 110, easy disassembly and maintenance.Driving wheel can have biasing drop suspension system, movably fasten,
Such as be rotatably attached, robot body 110 is arrived, and receive spring that is downward and biasing far from robot body 110
Biasing.Spring biasing allows driving wheel with certain contact and traction of the Productivity maintenance with ground, while robot 100 is clear
Clean element is also with certain pressure contact ground 10.
Cleaning systems 150 can be dry cleaning system and/or wet cleaning system.It is main as dry cleaning system
Connecting component of the cleaning function between roller brushes structure, dirt box structure, blower fan structure, air outlet and four is constituted clear
Sweep system 151.With ground there is the roller brushes structure centainly interfered the rubbish on ground is swept up simultaneously winding to roller brushes structure and dirt
In front of suction inlet between box structure, is then generated by blower fan structure and pass through the gas sucking dirt box for having suction of dirt box structure
Structure.The dust collection capacity of sweeper can be characterized with the sweeping efficiency DPU (Dust pick up efficiency) of rubbish,
Sweeping efficiency DPU is by roller brushes structure and Effect of Materials, by between suction inlet, dirt box structure, blower fan structure, air outlet and four
The wind power utilization rate in air duct that is constituted of connecting component influence, influenced by the type and power of blower, be a complicated system
Design problem.Compared to common plug-in dust catcher, the raising of dust collection capacity is anticipated for the clean robot of limited energy
Justice is bigger.Because the raising of dust collection capacity is directly effectively reduced for energy requirement, that is to say, that filling primary electricity originally can be with
The machine for cleaning 80 square meter ground can evolve even more to fill 180 square meters of primary electricity cleaning.And reduce charging times
The service life of battery can also greatly increase, so that the frequency that user replaces battery also will increase.More it is intuitive and importantly,
The raising of dust collection capacity is user experience the most obvious and important, and user can immediately arrive at whether completely to sweep/whether wipe
Clean conclusion.Dry cleaning system also may include the side brush 152 with rotary shaft, and rotary shaft is relative to ground at certain angle
Degree, for being moved to clast in the round brush region of cleaning systems 150.
Energy resource system 160 includes rechargeable battery, such as nickel-metal hydride battery and lithium battery.Rechargeable battery can connect charging control
Circuit, battery pack charging temperature detection circuit and battery undervoltage observation circuit processed, charging control circuit, the inspection of battery pack charging temperature
Slowdown monitoring circuit, battery undervoltage observation circuit are connected with single chip machine controlling circuit again.Host is by being arranged in fuselage side or lower section
Charging electrode connect and charge with charging pile.
Man-machine interactive system 170 includes the key on host panel, and key carries out function selection for user；Can also include
Display screen and/or indicator light and/or loudspeaker, display screen, indicator light and loudspeaker to user show current machine status or
Function options；It can also include mobile phone client program.For path navigation type cleaning equipment, cell phone client can be to
The map of environment and machine present position where user's presentation device, can provide a user more horn of plenty and hommization
Function items.
In order to clearly describe the behavior of robot, carry out following direction definition: robot 100 can by relative to
It is advanced on the ground by the various combinations that the following three that main body 110 defines is mutually perpendicular to the movement of axis: lateral shaft x, antero posterior axis y
And central vertical shaft z.It is " forward direction " along the forward hand designations of antero posterior axis y, and along the backward driving side of antero posterior axis y
To being denoted as " backward ".The axle center that lateral shaft x is substantially defined along the central point by driving wheel module 141 is in robot
Extend between right wheel and revolver.Wherein, robot 100 can be rotated around x-axis.When the forward portion of robot 100 tilts upwards,
It is when partially tilting down backward " facing upward ", and when the forward portion of robot 100 tilts down, and backward part tilts upwards
For " nutation ".In addition, robot 100 can be rotated around z-axis.On the forward direction of robot, when robot 100 is to Y-axis
Right side inclination be " right-hands rotation ", when robot 100 to the left side of y-axis be " left-hand rotation ".
Robot 100 is perceived by ambient enviroment of the sensory perceptual system 120 to itself, and control system 130 can root
The zone of action of the robot 100 is determined according to the perception data and Predistribution Algorithm of sensory perceptual system 120, and the zone of action is drawn
It is divided into multiple blocks, robot 100 is enabled to execute predetermined registration operation in this multiple block.Wherein, Predistribution Algorithm can wrap
Include positioning immediately and map structuring (simultaneous localization and mapping, SLAM) algorithm, this certain public affairs
It opens and is limited not to this.Below by taking SLAM algorithm as an example, are obtained by multiple blocks and is retouched for the perception of robot 100 and division
It states:
As shown in Figure 5A, robot 100 is located in room, needs to carry out the room perception and block division processing.It is false
Determine robot 100 to be configured as carrying out block division according to the specification of 2d × 2d, then robot 100 is first by ring around
The perception in border, it is determined whether itself can be placed in the center of the virtual block of 2d × 2d specification.It is real shown in Fig. 5 A
It applies in example, it is assumed that barrier is not present in the range of being d with 100 spacing distance of robot, i.e. robot 100 can be used as one and adopt
With the center of the virtual block of 2d × 2d specification, i.e. the center of virtual block (indicating with dotted line) locating for " A5 " is marked in Fig. 5 A
At point.
So, robot 100 divides to obtain virtual block locating for the label " A5 " according to the specification of 2d × 2d, then according to
2d × 2d specification extends outwardly along each edge such as the upper and lower, left and right of the virtual block, obtains covering room formation in Fig. 5 A
9 virtual blocks of lid.Since there are actual boundary (with black overstriking solid line marks) in room, and robot 100 can perceive
9 blocks shown in Fig. 5 A are marked off jointly to room boundaries, thus as the entity boundary in room and the virtual boundary of virtual block,
Including block A1, block A2, block A3 ... block A9 etc..
Certainly, robot 100 is not always able to for itself being placed at the center of virtual block.As shown in Figure 5 B, work as room
It is interior whens there is barrier 1, barrier 2 etc., if spacing distance between robot 100 and barrier 1, barrier 2 be a1,
A2, and a1 < d, a2 < d are obtained in Fig. 5 B then robot 100 extends along the opposite direction of itself and barrier 1, barrier 2
Locating for label " A5 ' ", meet the virtual block of scheduled 2d × 2d specification.
Then, it is similar to embodiment shown in Fig. 5 A, robot 100 extends in figure 5B obtains 9 virtual blocks, and according to
The virtual boundary on the entity boundary in room, the entity boundary of barrier and virtual block divides jointly obtains shown in Fig. 5 B 10
Block, including block A1 ', block A2 ', block A3 ' ... block 10 ' etc..
So, control system 130 successively selects each block as robot 100 according to above-mentioned block division result
Steps target, so that controlling robot 100 successively runs to each onblock executing predetermined registration operation.
For ease of description, Fig. 5 C schematically shows block 1, block 2 and area in the zone of action of robot 100
Block 3；Wherein, the vertical direction specification of block 1, block 2 and block 3 is L0, and the horizontal direction specification of block 1 is L1, area
The horizontal direction specification of block 2 is L2, the horizontal direction specification of block 3 is L3.It is preset when robot 100 executes in some block
When operation, which is required to accommodate robot 100 completely, and otherwise robot 100 will be judged to cannot be introduced into the block, from
And it selects to abandon carrying out predetermined registration operation in respective block.
Therefore it is presumed that the horizontal direction of robot 100, vertical direction specification are D, then as L0 > D, L2 > L1 > D
When > L3, show that block 1, block 2 can accommodate the robot 100 completely, but block 3 can not accommodate the robot completely
100 (in other words, robot 100, which will be considered that, itself cannot be introduced into the block 3), then according to processing scheme in the related technology,
Robot 100 can abandon the processing to block 3, and causing can not be to all standing of zone of action.
Therefore, the disclosure is improved by the function to control system 130, can optimize the block division side to zone of action
Formula, to ensure that robot 100 realizes all standing to zone of action.It is described in detail below with reference to embodiment:
Fig. 6 is the process that a kind of control robot shown according to an exemplary embodiment realizes the method independently manipulated
Figure may comprise steps of as shown in fig. 6, this method is applied in the control system 130 of robot 100:
In step 602, the zone of action of the robot 100 is determined.
In the present embodiment, it can be perceived by ambient enviroment of the sensory perceptual system 120 to robot 100, such as the sense
Know that system 120 may include range unit, which detects the distance between robot 100 and peripheral obstacle, and will
The distance measured is as above-mentioned perception data.
And control system 130 is by obtaining the perception data of sensory perceptual system 120, it can be according to the perception data and preset
Algorithm determines the zone of action of robot 100.Wherein, Predistribution Algorithm can be above-mentioned SLAM algorithm；Certainly, any other calculation
Method also can be applied in the technical solution of the disclosure, and the disclosure is limited not to this.
In step 604, the zone of action is divided into multiple blocks.
In step 606, the multiple block is handled, the specification for the block that makes that treated is not less than default rule
Lattice, so that the robot 100 can execute predetermined registration operation in the multiple block.
In the present embodiment, block division and processing can be carried out to zone of action by control system 130.Wherein, it controls
System 130 can when the specification of either block is less than default specification, by the either block towards adjacent block spreading range, with
So that the specification after the either block is extended is not less than default specification.
In the present embodiment, in order to enable robot 100 is able to enter in block, then the specification of block should at least not
Less than the fuselage specification of robot 100, i.e., above-mentioned default specification can be the fuselage specification of robot 100；Certainly, rule are preset
Lattice may be other sizes, be greater than any specification of the fuselage specification of robot 100, as long as can ensure robot
100 enter respective block.
In the present embodiment, control system 130 can be removed from the adjacent block of any of the above-described block by any area
The part that block extension occupies avoids robot 100 right while allowing robot 100 to realize all standing to zone of action
The occupied part repeats predetermined registration operation, helps to prevent robot 100 from leading to electricity when repeating predetermined registration operation
The consumption of power and time.Certainly, the removal of the occupied part is operated not necessarily, even if robot 100 is occupied to this
Part repeat predetermined registration operation, its global behavior will not be influenced.
As can be seen from the above embodiments, the disclosure is by being added to block specification when dividing the zone of action of robot
It considers, by being handled block and being made it to be not less than default specification, it is ensured that robot can smoothly enter into the institute marked off
There is block and execute predetermined registration operation, realizes comprehensive covering to zone of action.
The technical solution of the disclosure can be applied to various forms of robots 100, to help to optimize robot 100
Block divides, and realizes all standing to zone of action.Below by taking robot 100 is autonomous cleaning devices as an example, in the disclosure
The block of control system 130 divides logic and is described in detail, to help to understand the technical solution of the disclosure.
Fig. 7 is the process that autonomous clean method is realized according to a kind of control robot of one exemplary embodiment of the disclosure
Figure.As shown in fig. 7, this method may comprise steps of:
In a step 702, the scanning of robot 100 obtains cleaning region.
In the present embodiment, the sensory perceptual system 120 of robot 100 may include the range units such as LDS, by detecting machine
The distance between people 100 and peripheral obstacle, with the perception data that perceptually system 120 obtains；Then, control system 130
It can be according to the perception data and the instant positioning being pre-configured and map structuring (simultaneous localization and
Mapping, SLAM) algorithm generates the map of zone of action, i.e. SLAM map, with (i.e. living to cleaning region according to SLAM map
Dynamic region) carry out block division.
In step 704,100 pairs of cleaning regions of robot carry out block division.
In the present embodiment, the control system 130 of robot 100 is in the way of as shown in figure sa or figure, if by
The entity boundary etc. for doing barrier in the virtual boundary of virtual block and the entity boundary in room, room, divides in zone of action
Several blocks out, details are not described herein again.
In step 706, the specification of each block is compared with the fuselage specification of robot 100 respectively；When any
When the specification of block is less than fuselage specification, it is transferred to step 708, is otherwise transferred to step 710.
In step 708, block range is extended.
In step 720, the block after being expanded.
In one embodiment, as shown in Figure 8, it is assumed that robot 100 divides in cleaning region and obtains block 1,2 and of block
Block 3, the specification of these three blocks in y-direction is L0, and specification in the x direction is respectively L1, L2 and L3.In order to ensure
Robot 100 is able to enter each block and carries out clean operation, and the specification of each block should be at least not less than robot 100
Fuselage specification；It is assumed that the fuselage specification of robot 100 is diameter D, and using the fuselage specification D as the specification threshold of each block
Value, then it should be ensured that L0, L1, L2 and L3 are not less than D.
And in a practical situation, it is assumed that L0 > L2 > L1 > D > L3 shows that block 1 and block 2 can ensure to hold completely
Receive robot 100, and block 3 causes the block 3 that can not accommodate machine completely due to specification L3 < fuselage specification D in the x direction
Device people 100 should be extended the range of the block 3 by the technical solution of the disclosure.For example, following manner can be used
Range extension is carried out to block:
As shown in figure 8, block 3 is the rectangle block surrounded by vertex A, B, C and D.Due to specification L3 < in the x direction
Fuselage specification D, i.e. edge AD, edge BC < fuselage specification D, thus need in the x direction to be extended the block 3.It is assumed that
It is wall, the i.e. boundary of zone of action at edge AB, thus block 3 needs to be extended to adjacent block 2 in the x direction.
, can be mobile towards 2 direction of block by edge CD such as shown in Fig. 9, so that edge CD extends to C ' D ', that is, the block 3 after extending
By vertex A, B, C ' and D ' surround, and the specification in the x direction of block 3 after extending is changed to L5 >=fuselage specification D, so that expanding
Block 3 after exhibition can accommodate robot 100, it is ensured that robot 100 can carry out clean operation to the block 3 after extension, make
Robot 100 can realize all standing (including the cleaning to block range ABCD) to cleaning region, avoid leaving cleaning " extremely
Angle ".
In another embodiment, as shown in Figure 10, robot 100 carries out block by 130 pairs of cleaning regions of control system
It divides, it is assumed that the specification of block 1, block 2 ... block 8 etc. is all larger than the fuselage specification D of robot 100, and vertex E, F and G
The first specification of the block 9 surrounded in the y-direction is d1, the second specification in the x-direction be d2 be respectively less than robot 100 fuselage rule
Lattice D, then can be extended by following manner to the block 9:
When the specification (such as first specification d1, the second specification d2) of either block (such as block 9 shown in Fig. 10) is less than
When default specification (such as fuselage specification D of robot 100), if any side of the either block is along the boundary for being located at zone of action
(such as the left side edge EF of block 9 be located at zone of action left margin), then control system 130 is any with this of the either block
Any one endpoint (such as endpoint E or endpoint F) at edge is starting point, respectively first party belonging to the boundary along the zone of action
To (such as direction y) and perpendicular to the second direction (such as direction x) of the first direction, towards adjacent block (such as block 9 right side
Block 6, the block 7 in upper right side, block 8 of lower right etc.) be extended so that the either block extended after specification not
Less than the default specification.
As shown in Figure 10, the edge EF of block 9 and the left margin in cleaning region, which exist, partially overlaps, thus control system
130 can using at least one endpoint in edge EF as starting point, i.e. at least one of E point and F point by as starting point, and by
This is extended respectively towards the direction y belonging to above-mentioned left margin and perpendicular to the direction x in the direction y.
In y-direction: as shown in figure 11, it is assumed that using E point as starting point, can be extended in the y-direction towards the lower section of E point, so that
Edge EF is extended to edge EF ', and the specification d4 of edge EF ' >=fuselage specification D；Alternatively, as shown in figure 12, being with E point
When point, it can also be extended in the y-direction towards the top of E point, so that certain edges thereof is extended to edge E ' F, and the rule of edge E ' F along EF
Lattice d5 >=fuselage specification D；Alternatively, as shown in figure 13, it can be respectively using E point and F point as starting point, in the y-direction respectively towards on E point
Extension below side, F point, so that certain edges thereof is extended to edge E ' F ', and the specification d6 of edge E ' F ' >=fuselage specification D along EF.
Certainly, the extension on the direction y can also be using F point as starting point.So, embodiment shown in Figure 11 is also understood that
Are as follows: it is extended in the y-direction towards the lower section of F point, so that edge EF is extended to edge EF '；Embodiment shown in Figure 12 is also understood that
Are as follows: it is extended in the y-direction towards the top of F point, so that edge EF is extended to edge E ' F.
In the x direction: as shown in figure 11, using by E point as starting point.Since E point is located at the left margin in clear area domain
On, thus E point is merely able in the x-direction towards right extension, for example is extended at M point, so that the block range after extension is in the direction x
On specification be d3 >=fuselage specification D1.Embodiment shown in Figure 12-13 is similar, and details are not described herein again.
So, by taking Figure 11 as an example.By extension in y-direction, so that the specification of block 9 in y-direction is extended by d2
For d4, by extension in the x direction, so that the specification of block 9 in the x direction is extended to d3 by d1, then being with E point
Point can form corresponding rectangular area, i.e., by block 9 by triangle using d3, d4 as the side length of the block range after extension
Region EFG is extended to rectangular extent EF ' NM after extension shown in Figure 11, as the block 9 after extension.
In step 712, adjacent block is adjusted.
In the present embodiment, it when being extended due to control system 130 to block range, will be formed to adjacent block corresponding
Overlapping region, such as block 9 shown in the overlapping region CDD ' C ' that block shown in Fig. 93 and block 2 are formed, Figure 11 distinguishes
Overlapping region EGJ, GJMK and FGKNF formed with difference 6, block 7 and block 8 '.
In the related art, control system 130 is disposed adjacent, Bu Huicun when executing block division between each block
In overlapping region.Therefore, the overlapping region generated for the application, control system 130 can be from the area for being performed extension process
Overlapping region is removed in the adjacent block of block, a clean operation is completed to entire cleaning region then being equivalent to robot 100,
Repetition cleaning may be not present.By taking Fig. 9 as an example.The range of block 2 is CDPQ, and since the specification of block 3 is less than robot 100
Fuselage specification D, thus block 3 extends range CDD ' C ' into block 2, so that the range of block 3 is extended to ABC ' by ABCD
D ' then forms overlapping region CDD ' C ' between block 2 and block 3.So, the processing mode based on step 712, control system
130 can remove overlapping region CDD ' C ' from block 2, so that the range of block 2 is contracted to C ' D ' PQ from CDPQ.
Certainly, step 712 not necessarily, even if retaining the overlapping region between block 2 such as shown in Fig. 9, block 3,
Jin Huishi robot 100 executes clean operation twice to the overlapping region, will not influence its whole cleaning operation.For example,
Block after extension can be labeled as special block by control system 130, then subsequent controlling robot 100 in each block
When interior execution clean operation, which may indicate that robot 100 can repeat cleaning behaviour in the special block
Make.Especially, control system 130 should be ensured that the specification of adjacent block is not less than fuselage specification when executing step 712, such as
It is necessary to ensure that L4 >=fuselage specification D in Fig. 9, otherwise should not remove the part occupied by extension.
It similarly, can also be to the block 6, block 7 and block 8 etc. as adjacent block in embodiment shown in Figure 14
It is adjusted, to eliminate the overlapping region between block 9, details are not described herein again.
Realize that the embodiment of method independently manipulated is corresponding with control robot above-mentioned, the disclosure additionally provides control
Robot realizes the embodiment of the device independently manipulated.
Figure 15 is that a kind of control robot shown according to an exemplary embodiment realizes the device block diagram independently manipulated.Ginseng
According to Figure 15, which includes determination unit 1502, division unit 1504 and processing unit 1506.
Determination unit 1502 is configured to determine that the zone of action of the robot；
Division unit 1504 is configured as the zone of action being divided into multiple blocks；
Processing unit 1506 is configured as handling the multiple block, and the specification for the block that makes that treated is not small
In default specification, so that the robot can execute predetermined registration operation in the multiple block.
Optionally, when the artificial autonomous cleaning devices of the machine, the zone of action is the autonomous cleaning devices
Region is cleaned, the predetermined registration operation is cleaning action.
As shown in figure 16, Figure 16 is that another control robot shown according to an exemplary embodiment realizes autonomous manipulation
Device block diagram, the embodiment on the basis of aforementioned embodiment illustrated in fig. 15, processing unit 1506 may include: extension son
Unit 1506A.
Subelement 1506A is extended, is configured as when the specification of the either block is less than the default specification, it will be described
Either block is towards adjacent block spreading range, so that the specification after the either block is extended is not less than the default rule
Lattice.
As shown in figure 17, Figure 17 is that another control robot shown according to an exemplary embodiment realizes autonomous manipulation
Device block diagram, for the embodiment on the basis of aforementioned embodiment illustrated in fig. 16, which can also include: setting unit
1508。
Setting unit 1508 will be set as the repeatable block for executing the predetermined registration operation by the block of extension process.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
The purpose for needing to select some or all of the modules therein to realize disclosure scheme.Those of ordinary skill in the art are not paying
Out in the case where creative work, it can understand and implement.
Correspondingly, the disclosure also provides a kind of control robot device that realization independently manipulates, comprising: processor；For
The memory of storage processor executable instruction；Wherein, the processor is configured to: determine the behaviour area of the robot
Domain；The zone of action is divided into multiple blocks；The multiple block is handled, the specification for the block that makes that treated is not
Less than default specification, so that the robot can execute predetermined registration operation in the multiple block.
Correspondingly, the disclosure also provides a kind of robot, the robot includes memory and one or one
Above program, one of them perhaps more than one program be stored in memory and be configured to by one or one with
It includes the instruction for performing the following operation that upper processor, which executes the one or more programs: determining the robot
Zone of action；The zone of action is divided into multiple blocks；The multiple block is handled, the block that makes that treated
Specification be not less than default specification so that the robot can execute predetermined registration operation in the multiple block.
Figure 18 is a kind of device independently manipulated for controlling robot realization shown according to an exemplary embodiment
1800 block diagram.For example, device 1800 can be the autonomous cleaning devices such as robot, such as sweeping robot, floor-mopping robot
Deng.
Referring to Fig.1 8, device 1800 may include following one or more components: processing component 1802, memory 1804,
Power supply module 1806, multimedia component 1808, audio component 1810, the interface 1812 of input/output (I/O), sensor module
1814 and communication component 1816.
The integrated operation of the usual control device 1800 of processing component 1802, such as with display, telephone call, data communication,
Camera operation and record operate associated operation.Processing component 1802 may include one or more processors 1820 to execute
Instruction, to perform all or part of the steps of the methods described above.In addition, processing component 1802 may include one or more moulds
Block, convenient for the interaction between processing component 1802 and other assemblies.For example, processing component 1802 may include multi-media module,
To facilitate the interaction between multimedia component 1808 and processing component 1802.
Memory 1804 is configured as storing various types of data to support the operation in device 1800.These data
Example includes the instruction of any application or method for operating on device 1800, contact data, telephone book data,
Message, picture, video etc..Memory 1804 can by any kind of volatibility or non-volatile memory device or they
Combination is realized, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), it is erasable can
Program read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash memory
Reservoir, disk or CD.
Power supply module 1806 provides electric power for the various assemblies of device 1800.Power supply module 1806 may include power management
System, one or more power supplys and other with for device 1800 generate, manage, and distribute the associated component of electric power.
Multimedia component 1808 includes the screen of one output interface of offer between described device 1800 and user.?
In some embodiments, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel,
Screen may be implemented as touch screen, to receive input signal from the user.Touch panel includes that one or more touch passes
Sensor is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or sliding is dynamic
The boundary of work, but also detect duration and pressure associated with the touch or slide operation.In some embodiments, more
Media component 1808 includes a front camera and/or rear camera.When device 1800 is in operation mode, as shot mould
When formula or video mode, front camera and/or rear camera can receive external multi-medium data.Each preposition camera shooting
Head and rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio component 1810 is configured as output and/or input audio signal.For example, audio component 1810 includes a wheat
Gram wind (MIC), when device 1800 is in operation mode, when such as call mode, recording mode, and voice recognition mode, microphone quilt
It is configured to receive external audio signal.The received audio signal can be further stored in memory 1804 or via communication
Component 1816 is sent.In some embodiments, audio component 1810 further includes a loudspeaker, is used for output audio signal.
I/O interface 1812 provides interface, above-mentioned peripheral interface module between processing component 1802 and peripheral interface module
It can be keyboard, click wheel, button etc..These buttons may include, but are not limited to: home button, volume button, start button and
Locking press button.
Sensor module 1814 includes one or more sensors, and the state for providing various aspects for device 1800 is commented
Estimate.For example, sensor module 1814 can detecte the state that opens/closes of device 1800, the relative positioning of component, such as institute
The display and keypad that component is device 1800 are stated, sensor module 1814 can be with detection device 1800 or device 1,800 1
The position change of a component, the existence or non-existence that user contacts with device 1800,1800 orientation of device or acceleration/deceleration and dress
Set 1800 temperature change.Sensor module 1814 may include proximity sensor, be configured in not any physics
It is detected the presence of nearby objects when contact.Sensor module 1814 can also include optical sensor, as CMOS or ccd image are sensed
Device, for being used in imaging applications.In some embodiments, which can also include acceleration sensing
Device, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 1816 is configured to facilitate the communication of wired or wireless way between device 1800 and other equipment.Dress
The wireless network based on communication standard, such as WiFi can be accessed by setting 1800,2G or 3G or their combination.It is exemplary at one
In embodiment, communication component 1816 receives broadcast singal or broadcast correlation from external broadcasting management system via broadcast channel
Information.In one exemplary embodiment, the communication component 1816 further includes near-field communication (NFC) module, to promote short distance
Communication.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band can be based in NFC module
(UWB) technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, device 1800 can be by one or more application specific integrated circuit (ASIC), number
Signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided
It such as include the memory 1804 of instruction, above-metioned instruction can be executed by the processor 1820 of device 1800 to complete the above method.Example
Such as, the non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, soft
Disk and optical data storage devices etc..
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (15)
1. a kind of robot with autonomous manipulation function characterized by comprising
Sensory perceptual system, the sensory perceptual system is for perceiving the ambient enviroment of robot；
Control system, the control system obtain the perception data of the sensory perceptual system, according to the perception data and preset
Algorithm determines the zone of action of the robot；The zone of action includes multiple blocks, and the control system can be to described
Multiple blocks are handled, and the specification for the block that makes that treated is not less than default specification, so that the robot can be described
The interior execution predetermined registration operation of block that treated.
2. robot according to claim 1, which is characterized in that the sensory perceptual system includes: range unit, for detecting
The distance between the robot and peripheral obstacle；Wherein, the distance that the range unit measures is by as the perception number
According to.
3. robot according to claim 2, which is characterized in that the Predistribution Algorithm includes instant positioning and map structuring
Algorithm.
4. robot according to claim 1, which is characterized in that the control system is using following manner to the multiple
Block is handled:
When the specification of either block is less than the default specification, by the either block towards adjacent block spreading range, with
So that the specification after the either block is extended is not less than the default specification.
5. robot according to claim 4, which is characterized in that the control system will be arranged by the block of extension process
For the repeatable block for executing the predetermined registration operation.
6. robot according to any one of claims 1-5, which is characterized in that when artificially independently cleaning is set the machine
When standby, the zone of action is the cleaning region of the autonomous cleaning devices, and the predetermined registration operation is cleaning action.
7. a kind of control robot realizes the method independently manipulated characterized by comprising
Determine the zone of action of the robot；
The zone of action is divided into multiple blocks；
The multiple block is handled, the specification for the block that makes that treated is not less than default specification, so that the robot
Predetermined registration operation can be executed in block after the treatment.
8. the method according to the description of claim 7 is characterized in that described handle the multiple block, comprising:
When the specification of either block is less than the default specification, by the either block towards adjacent block spreading range, with
So that the specification after the either block is extended is not less than the default specification.
9. according to the method described in claim 8, it is characterized by further comprising:
The repeatable block for executing the predetermined registration operation will be set as by the block of extension process.
10. the method according to any one of claim 7-9, which is characterized in that when artificially independently cleaning is set the machine
When standby, the zone of action is the cleaning region of the autonomous cleaning devices, and the predetermined registration operation is cleaning action.
11. a kind of control robot realizes the device independently manipulated characterized by comprising
Determination unit determines the zone of action of the robot；
The zone of action is divided into multiple blocks by division unit；
Processing unit handles the multiple block, and the specification for the block that makes that treated is not less than default specification, so that institute
Predetermined registration operation can be executed in block after the treatment by stating robot.
12. device according to claim 11, which is characterized in that the processing unit includes:
Subelement is extended, when the specification of either block is less than the default specification, by the either block towards adjacent block
Spreading range, so that the specification after the either block is extended is not less than the default specification.
13. device according to claim 12, which is characterized in that further include:
Setting unit will be set as the repeatable block for executing the predetermined registration operation by the block of extension process.
14. device described in any one of 1-13 according to claim 1, which is characterized in that when the machine artificially independently cleans
When equipment, the zone of action is the cleaning region of the autonomous cleaning devices, and the predetermined registration operation is cleaning action.
15. a kind of control robot realizes the device independently manipulated characterized by comprising
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
Determine the zone of action of the robot；
The zone of action is divided into multiple blocks；
The multiple block is handled, the specification for the block that makes that treated is not less than default specification, so that the robot
Predetermined registration operation can be executed in block after the treatment.
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| CN109079772A (en) * | 2017-06-14 | 2018-12-25 | 深圳乐动机器人有限公司 | Robot and robot system |
| CN107397510A (en) * | 2017-08-22 | 2017-11-28 | 安徽风向标清洁设备有限公司 | Sweeper |
| CN107684401A (en) * | 2017-09-25 | 2018-02-13 | 北京石头世纪科技有限公司 | The control method and control device of intelligent cleaning equipment |
| JP6670811B2 (en) * | 2017-11-08 | 2020-03-25 | 日立グローバルライフソリューションズ株式会社 | Autonomous traveling vacuum cleaner |
| CN107898393B (en) * | 2017-11-17 | 2020-12-04 | 北京奇虎科技有限公司 | Block adjusting method and device for cleaning robot and robot |
| CN107752927B (en) * | 2017-11-17 | 2020-07-14 | 北京奇虎科技有限公司 | Block adjusting method, device and equipment of cleaning robot and storage medium |
| CN107913039B (en) * | 2017-11-17 | 2020-11-13 | 北京奇虎科技有限公司 | Block selection method and device for cleaning robot and robot |
| CN107837044B (en) * | 2017-11-17 | 2021-01-08 | 北京奇虎科技有限公司 | Partitioned cleaning method and device of cleaning robot and robot |
| CN108214492A (en) * | 2017-12-29 | 2018-06-29 | 北京视觉世界科技有限公司 | Clean clean method, device, computer equipment and the storage medium in region |
| CN109077672B (en) * | 2018-09-28 | 2023-03-14 | 北京奇虎科技有限公司 | Method and device for selecting block by floor sweeping robot |
| CN114942638A (en) * | 2019-04-02 | 2022-08-26 | 北京石头创新科技有限公司 | Robot working area map construction method and device |
| CN109932726B (en) * | 2019-04-18 | 2020-08-18 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
| CN214231240U (en) * | 2019-11-18 | 2021-09-21 | 北京石头世纪科技股份有限公司 | Cleaning robot |
| CN111722630B (en) * | 2020-06-30 | 2024-02-02 | 深圳银星智能集团股份有限公司 | Partition boundary extension method, device and equipment of cleaning robot and storage medium |
| CN113219995A (en) * | 2021-06-04 | 2021-08-06 | 深圳飞鼠动力科技有限公司 | Path planning method and cleaning robot |
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| KR100791386B1 (en) * | 2006-08-18 | 2008-01-07 | 삼성전자주식회사 | Method and system of cell decomposition in mobile robot |
| KR20090085933A (en) * | 2008-02-05 | 2009-08-10 | 웅진코웨이주식회사 | Method of controlling a robot cleaner |
| CN104287676B (en) * | 2011-03-31 | 2017-02-15 | 科沃斯机器人股份有限公司 | Control device of automatic separation functional module applied to multifunctional robot |
| CN103251358A (en) * | 2012-02-16 | 2013-08-21 | 恩斯迈电子(深圳)有限公司 | Control method of sweeping robot |
| TWI505801B (en) * | 2014-05-09 | 2015-11-01 | Kinpo Elect Inc | Indoor robot and method for indoor robot positioning |
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Address after: 100085 Huarun Qingcai Street 68, Haidian District, Beijing, two stage, 9 floor, 01 rooms. Applicant after: BEIJING XIAOMI MOBILE SOFTWARE Co.,Ltd. Applicant after: Beijing Roborock Technology Co.,Ltd. Address before: 100085 Huarun Qingcai Street 68, Haidian District, Beijing, two stage, 9 floor, 01 rooms. Applicant before: BEIJING XIAOMI MOBILE SOFTWARE Co.,Ltd. Applicant before: BEIJING ROCKROBO TECHNOLOGY Co.,Ltd. |