阅读说明：本技术 一种扫地机回充候选点生成方法、装置及扫地机回充系统 (Sweeper recharging candidate point generation method and device and sweeper recharging system ) 是由 高晗 杨庆辉 于 2020-06-28 设计创作，主要内容包括：本发明适用于扫地机技术领域,提供了一种扫地机回充候选点生成方法、装置及扫地机回充系统,该扫地机回充候选点生成方法包括：驱动扫地机沿工作地图的清扫区域运动；通过设置于扫地机侧面的红外接收器采集充电座的前向红外信号和近场红外信号；当红外接收器同时接收到前向红外信号和近场红外信号时,确定充电座的位置；根据红外接收器接收到前向红外信号和近场红外信号时扫地机的行走方向确定充电座的朝向；根据充电座的位置及朝向在工作地图中生成对应的回充候选点；当扫地机需要回充时,选取一回充候选点作为扫地机的回充点。本发明提供的扫地机回充候选点生成方法可以提高扫地机的回充效率,且可提高扫地机与充电座对接的准确性。(The invention is suitable for the technical field of sweeper, and provides a sweeper recharging candidate point generating method, a sweeper recharging candidate point generating device and a sweeper recharging candidate point generating system, wherein the sweeper recharging candidate point generating method comprises the following steps: driving the sweeper to move along the sweeping area of the working map; collecting a forward infrared signal and a near-field infrared signal of a charging seat through an infrared receiver arranged on the side surface of the sweeper; when the infrared receiver receives the forward infrared signal and the near-field infrared signal at the same time, determining the position of the charging seat; determining the orientation of the charging seat according to the walking direction of the sweeper when the infrared receiver receives the forward infrared signal and the near-field infrared signal; generating a corresponding recharging candidate point in a working map according to the position and the orientation of the charging seat; when the sweeper needs recharging, a recharging candidate point is selected as the recharging point of the sweeper. The method for generating the recharging candidate points of the sweeper can improve the recharging efficiency of the sweeper and the accuracy of the butting of the sweeper and the charging seat.)

1. A back-charging candidate point generating method of a sweeper is characterized by comprising the following steps:

driving the sweeper to move along the sweeping area of the working map;

collecting a forward infrared signal and a near-field infrared signal of a charging seat through an infrared receiver arranged on the side surface of the sweeper;

when the infrared receiver receives the forward infrared signal and the near-field infrared signal at the same time, determining the position of the sweeper, which is shifted to the direction of the infrared receiver by a preset distance, as the position of the charging seat;

determining the orientation of a charging seat according to the walking direction of the sweeper when the infrared receiver receives the forward infrared signal and the near-field infrared signal;

generating a corresponding recharging candidate point in the working map according to the position and the orientation of the charging seat;

and when the sweeper needs recharging, selecting one recharging candidate point as the recharging point of the sweeper.

2. The method as claimed in claim 1, further comprising, after generating the corresponding recharging candidate points in the work map according to the position and orientation of the charging dock:

judging whether the generated recharging candidate point is consistent with the recharging candidate point recorded last time; and if not, adding the generated backfill candidate points into the candidate queue.

3. The method for generating the back charging candidate points of the sweeper according to claim 2, wherein when the sweeper needs back charging, one back charging candidate point is selected as the back charging candidate point of the sweeper, and the method specifically comprises the following steps:

when one recharging candidate point in the candidate queue is selected, selecting the recharging candidate point as a recharging point of the sweeper;

and when the number of the recharging candidate points in the candidate queue is more than two, selecting the recharging candidate point closest to the sweeper as the recharging point of the sweeper.

4. The method of claim 1, wherein the step of determining the orientation of the charging dock according to the traveling direction of the sweeper when the infrared receiver receives the forward infrared signal and the near-field infrared signal comprises:

when the infrared receiver receives the forward infrared signal and the near-field infrared signal at the same time, determining the walking direction of the sweeper according to the displacement direction of the sweeper;

and determining the orientation of the charging seat according to the walking direction of the sweeper and the directions of the infrared receivers receiving the forward infrared signal and the near-field infrared signal.

5. The sweeper refill candidate point generation method of claim 1, wherein the preset distance is a distance from a center of the sweeper to the infrared receiver when the sweeper is driven to move along a boundary of a sweeping area of a work map.

6. The candidate point generating method of claim 1, wherein when the sweeper is driven to move along the inside of the sweeping area of the working map, the preset distance is greater than or equal to the distance between the center of the sweeper and the infrared receiver and is less than or equal to the sum of the distance between the center of the sweeper and the infrared receiver and the radius of the coverage range of the near-field infrared signal.

7. The utility model provides a candidate point generating device is filled back to quick-witted sweeping floor which characterized in that includes:

the driving module is used for driving the sweeper to move along a sweeping area of the working map;

the signal acquisition module is used for acquiring a forward infrared signal and a near-field infrared signal of the charging seat through an infrared receiver arranged on the side surface of the sweeper;

the charging seat position determining module is used for determining the position of the sweeper, which is shifted to the direction of the infrared receiver by a preset distance, as the position of the charging seat when the infrared receiver receives the forward infrared signal and the near-field infrared signal simultaneously;

the charging seat orientation determining module is used for determining the orientation of the charging seat according to the walking direction of the sweeper when the infrared receiver receives the forward infrared signal and the near-field infrared signal;

the recharging candidate point generating module is used for generating corresponding recharging candidate points in the working map according to the position and the orientation of the charging seat;

and the recharging candidate point selecting module is used for selecting a recharging candidate point as a recharging point of the sweeper when the sweeper needs recharging.

8. The candidate point generating device of claim 7, further comprising:

the candidate queue generating module is used for judging whether the generated recharging candidate points are consistent with the recharging candidate points recorded at the last time; and if not, adding the generated backfill candidate points into the candidate queue.

9. The candidate point generating device for back charging of a sweeper according to claim 8, wherein when the sweeper needs back charging, selecting a candidate point for back charging as the candidate point for back charging of the sweeper specifically comprises:

when one recharging candidate point in the candidate queue is selected, selecting the recharging candidate point as a recharging point of the sweeper;

and when the number of the recharging candidate points in the candidate queue is more than two, selecting the recharging candidate point closest to the sweeper as the recharging point of the sweeper.

10. The candidate point generating device of claim 7, wherein the charging-stand orientation determining module comprises:

the walking direction determining unit is used for determining the walking direction of the sweeper according to the displacement direction of the sweeper when the infrared receiver simultaneously receives the forward infrared signal and the near-field infrared signal;

and the orientation determining unit is used for determining the orientation of the charging seat according to the walking direction of the sweeper and the directions of the infrared receivers receiving the forward infrared signal and the near-field infrared signal.

11. The candidate point generating device for back filling of a sweeper according to claim 7, wherein when the driving module drives the sweeper to move along the boundary of the sweeping area of the working map, the preset distance is a distance from the center of the sweeper to the infrared receiver.

12. The candidate point generating device for sweeper back charging according to claim 7, wherein when the driving module drives the sweeper to move along the inside of the sweeping area of the working map, the preset distance is greater than or equal to the distance between the center of the sweeper and the infrared receiver and is less than or equal to the sum of the distance between the center of the sweeper and the infrared receiver and the radius of the coverage range of the near-field infrared signal.

13. A recharging system of a sweeper is characterized by comprising a charging seat and the sweeper;

the charging stand is used for transmitting a forward infrared signal and a near-field infrared signal, an infrared receiver for receiving the forward infrared signal and the near-field infrared signal is arranged on the side face of the sweeper, and the sweeper comprises the sweeper recharging candidate point generating device as claimed in any one of claims 7 to 12.

Technical Field

The invention relates to the technical field of sweeper, in particular to a sweeper recharging candidate point generating method and device and a sweeper recharging system.

Background

With the development of science and technology, robots are increasingly applied to daily life of people, for example, common floor sweeping machines are applied, so that the life of people becomes more comfortable and convenient. The charging mode of the existing sweeper is divided into manual charging and automatic recharging, and the automatic recharging is more convenient and intelligent than the manual charging.

Disclosure of Invention

The invention provides a candidate point generating method for recharging of a sweeper, and aims to solve the problem that the recharging efficiency of the sweeper is low in the prior art.

The invention is realized in such a way, and provides a back-filling candidate point generating method of a sweeper, which comprises the following steps:

driving the sweeper to move along the sweeping area of the working map;

collecting a forward infrared signal and a near-field infrared signal of a charging seat through an infrared receiver arranged on the side surface of the sweeper;

when the infrared receiver receives the forward infrared signal and the near-field infrared signal at the same time, determining the position of the sweeper, which is shifted to the direction of the infrared receiver by a preset distance, as the position of the charging seat;

determining the orientation of a charging seat according to the walking direction of the sweeper when the infrared receiver receives the forward infrared signal and the near-field infrared signal;

generating a corresponding recharging candidate point in the working map according to the position and the orientation of the charging seat;

and when the sweeper needs recharging, selecting one recharging candidate point as the recharging point of the sweeper.

Preferably, after generating the corresponding recharging candidate point in the work map according to the position and the orientation of the charging dock, the method further includes:

judging whether the generated recharging candidate point is consistent with the recharging candidate point recorded last time; and if not, adding the generated backfill candidate points into the candidate queue.

Preferably, when the sweeper needs recharging, one recharging candidate point is selected as the recharging point of the sweeper, and the method specifically includes:

when one recharging candidate point in the candidate queue is selected, selecting the recharging candidate point as a recharging point of the sweeper;

and when the number of the recharging candidate points in the candidate queue is more than two, selecting the recharging candidate point closest to the sweeper as the recharging point of the sweeper.

Preferably, the step of determining the orientation of the charging stand according to the traveling direction of the sweeper when the infrared receiver receives the forward infrared signal and the near-field infrared signal includes:

when the infrared receiver receives the forward infrared signal and the near-field infrared signal at the same time, determining the walking direction of the sweeper according to the displacement direction of the sweeper;

and determining the orientation of the charging seat according to the walking direction of the sweeper and the directions of the infrared receivers receiving the forward infrared signal and the near-field infrared signal.

Preferably, when the sweeper is driven to move along the boundary of the sweeping area of the working map, the preset distance is the distance from the center of the sweeper to the infrared receiver.

Preferably, when the sweeper is driven to move along the inside of a sweeping area of a working map, the preset distance is greater than or equal to the distance between the center of the sweeper and the infrared receiver and is less than or equal to the sum of the distance between the center of the sweeper and the infrared receiver and the radius of the near-field infrared signal coverage range.

The invention also provides a back-filling candidate point generating device of the sweeper, which comprises the following steps:

the driving module is used for driving the sweeper to move along a sweeping area of the working map;

the signal acquisition module is used for acquiring a forward infrared signal and a near-field infrared signal of the charging seat through an infrared receiver arranged on the side surface of the sweeper;

the charging seat position determining module is used for determining the position of the sweeper, which is shifted to the direction of the infrared receiver by a preset distance, as the position of the charging seat when the infrared receiver receives the forward infrared signal and the near-field infrared signal simultaneously;

the charging seat orientation determining module is used for determining the orientation of the charging seat according to the walking direction of the sweeper when the infrared receiver receives the forward infrared signal and the near-field infrared signal;

the recharging candidate point generating module is used for generating corresponding recharging candidate points in the working map according to the position and the orientation of the charging seat;

and the recharging candidate point selecting module is used for selecting a recharging candidate point as a recharging point of the sweeper when the sweeper needs recharging.

Preferably, the method further comprises the following steps:

the candidate queue generating module is used for judging whether the generated recharging candidate points are consistent with the recharging candidate points recorded at the last time; and if not, adding the generated backfill candidate points into the candidate queue.

Preferably, when the sweeper needs recharging, selecting a recharging candidate point as the recharging point of the sweeper specifically includes:

when one recharging candidate point in the candidate queue is selected, selecting the recharging candidate point as a recharging point of the sweeper;

and when the number of the recharging candidate points in the candidate queue is more than two, selecting the recharging candidate point closest to the sweeper as the recharging point of the sweeper.

Preferably, the charging-stand orientation determining module includes:

the walking direction determining unit is used for determining the walking direction of the sweeper according to the displacement direction of the sweeper when the infrared receiver simultaneously receives the forward infrared signal and the near-field infrared signal;

and the orientation determining unit is used for determining the orientation of the charging seat according to the walking direction of the sweeper and the directions of the infrared receivers receiving the forward infrared signal and the near-field infrared signal.

Preferably, when the driving module drives the sweeper to move along the boundary of the sweeping area of the working map, the preset distance is the distance from the center of the sweeper to the infrared receiver.

Preferably, when the driving module drives the sweeper to move along the inside of a sweeping area of a working map, the preset distance is greater than or equal to the sum of the distance between the center of the sweeper and the infrared receiver and the radius of the near-field infrared signal coverage range.

The invention also provides a recharging system of the sweeper, which comprises a charging seat and the sweeper;

the charging seat is used for transmitting a forward infrared signal and a near-field infrared signal, an infrared receiver used for receiving the forward infrared signal and the near-field infrared signal is arranged on the side face of the sweeper, and the sweeper comprises the sweeper back charging candidate point generating device.

The back-filling candidate point generating method of the sweeper provided by the invention has the following technical effects:

the position and the orientation of the charging seat are acquired in advance in the cleaning process or the edgewise movement through the sweeper, the corresponding recharging candidate points are generated in the working map according to the position and the orientation of the charging seat, when the sweeper needs recharging, the recharging candidate points are selected to serve as the recharging points of the sweeper, so that the sweeper can be directly navigated to the position of the selected recharging candidate points through the working map planning when needing recharging, the charging seat does not need to be searched in addition, the recharging efficiency of the sweeper is greatly improved, the posture of the sweeper can be adjusted according to the specific orientation of the recharging candidate points, and the accuracy of butt joint of the sweeper and the charging seat is improved.

Drawings

Fig. 1 is a schematic structural diagram of a recharging system of a sweeper according to a first embodiment of the present invention;

fig. 2 is another schematic structural diagram of a recharging system of a sweeper according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a back candidate point generating device of a sweeper according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a back candidate point generating device of a sweeper according to a second embodiment of the present invention;

fig. 5 is a flowchart of a method for generating back-filling candidate points of a sweeper according to a third embodiment of the present invention;

fig. 6 is a flowchart of a method for generating a back candidate point of a sweeper according to a fourth embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

According to the embodiment of the invention, the sweeper generates the corresponding recharging candidate point in the working map according to the position and the orientation of the charging seat in the sweeping process or the edgewise movement process, and selects the recharging candidate point as the recharging point of the sweeper when the sweeper needs recharging, so that the sweeper can be directly navigated to the position of the selected recharging candidate point through the working map planning when the sweeper needs recharging, and the posture of the sweeper can be adjusted according to the specific orientation of the charging seat corresponding to the recharging candidate point, thereby greatly improving the recharging efficiency of the sweeper and improving the accuracy of the butt joint of the sweeper and the charging seat.