CN109965781A - A kind of control method that sweeping robot cooperates, apparatus and system - Google Patents
A kind of control method that sweeping robot cooperates, apparatus and system Download PDFInfo
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- CN109965781A CN109965781A CN201711464612.6A CN201711464612A CN109965781A CN 109965781 A CN109965781 A CN 109965781A CN 201711464612 A CN201711464612 A CN 201711464612A CN 109965781 A CN109965781 A CN 109965781A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 251
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000004140 cleaning Methods 0.000 claims abstract description 35
- 238000004891 communication Methods 0.000 claims description 35
- 238000003708 edge detection Methods 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 16
- 241001417527 Pempheridae Species 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 4
- 230000000875 corresponding effect Effects 0.000 description 23
- 238000010586 diagram Methods 0.000 description 16
- 238000005406 washing Methods 0.000 description 8
- 239000000203 mixture Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000010926 purge Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 231100000572 poisoning Toxicity 0.000 description 2
- 230000000607 poisoning effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
-
- 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
- A47L11/40—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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention provides the control methods that a kind of sweeping robot cooperates, and control multiple sweeping robots based on central server and cooperate, and include the following steps: that a. obtains the sub- cartographic information that each described sweeping robot generates；B. overlapping cartographic information is generated to determine corresponding overlapping region based on the mutual intersection of the sub- cartographic information, and the overlapping cartographic information is sent to the corresponding sweeping robot；C. the sweeping robot is controlled based on the overlapping cartographic information and is performed in unison with cleaning works.Present invention can apply to the cooperation of multiple sweeping robots of large stadium cleanings, have high reliability, fault-tolerance.Substantially increase economy, practicability and the intelligence of sweeping robot.
Description
Technical field
A kind of cooperate the invention belongs to robotic technology field more particularly to more sweeping robots control method,
Control device and control system.
Background technique
As sweeping robot gradually enters into family, office or even other public environment, to sweeping under different application scene
The intelligent requirements of floor-washing robot are also gradually increased.In general, sweeping robot is placed on specific region independently working, do not need
It cooperates with other sweeping robots.In the prior art, it when single sweeping robot operation, is completed using VSLAM technology
Map structuring and subsequent cleaning works, although positioning with higher and pattern accuracy, cleaning for large scene is single
A sweeping robot working efficiency is too slow, if respectively working independently may be not present coordinated between multiple sweeping robots,
It will cause repetitions to clean, and the map datum of each sweeping robot cannot be shared, and causes to repeat to construct map, repeats meter
It calculates, influences the working efficiency of sweeping robot.In addition, existing SLAM technology is needed in progress closed loop detection, position optimization
A large amount of computing resource is all very big for the demand of CPU, memory, electric energy.Therefore, the hardware cost of traditional sweeping robot
It is very high.
Therefore, it is necessary to provide a kind of controlling party to cooperate in same operating area suitable for multiple sweeping robots
Method and device.
Summary of the invention
For technological deficiency of the existing technology, cooperate the object of the present invention is to provide a kind of sweeping robot
Control method controls multiple sweeping robots based on central server and cooperates, includes the following steps:
A. the sub- cartographic information that each described sweeping robot generates is obtained；
B. overlapping cartographic information is generated based on the mutual intersection of the sub- cartographic information and corresponds to overlapping region to determine,
And the overlapping cartographic information is sent to the corresponding sweeping robot；
C. the sweeping robot is controlled based on the overlapping cartographic information and is performed in unison with cleaning works.
It preferably, further include that step a1. establishes multiple sweeping robots and the central server before the step a
Between communication connection, the central server controls multiple sweeping robot parallel execution of data operations, multiple described
Sweeping robot is only used for executing the control instruction that the central server issues.
Preferably, each described sweeping robot generates the sub- cartographic information in the following way in the step a:
A2. judge whether the sweeping robot is to communicate for the first time with the central server, if the machine of sweeping the floor
People thens follow the steps a3 with central server communication for the first time, if the sweeping robot and non-first time and the center
Server communication thens follow the steps a4；
A3. the central server controls the sweeping robot and generates the sub- cartographic information, and to the sub- map
Information executes closed loop detection；
A4. the central server transfers the sub- cartographic information of history corresponding with the sweeping robot, and is based on institute
It states the sub- cartographic information of history and controls the sweeping robot generation sub- cartographic information, and the sub- cartographic information execution is closed
Ring detection.
Preferably, it is also executed the following steps: after the step a4
A5. Non-overlapping Domain is generated based on the sub- cartographic information of the history and the sub- cartographic information, and control with it is described
The nearest sweeping robot of Non-overlapping Domain executes the cleaning works in the Non-overlapping Domain.
Preferably, the step b further includes following steps:
B1. edge detection is carried out the sub- cartographic information that each described sweeping robot uploads；
B2. the mutual intersection of multiple sub- cartographic informations is determined based on the edge detection.
Preferably, the step c further includes that the step c1. control sweeping robot nearest with the overlapping region is held
The row cleaning works.
Preferably, the step b further includes following steps:
Union based on the sub- cartographic information generates global map information；
Correspondingly, the step c1 includes the following steps:
C11. it is based on the global map information, obtains the location information of each sweeping robot；
C12. based on location information determination and the nearest sweeping robot in the overlapping region；
C13. the control for generating map and executing cleaning works is sent to the nearest sweeping robot in the overlapping region
Instruction.
Preferably, it is determined as follows the sweeping robot nearest with the overlapping region:
Extract location information of the characteristic point in the global map information in the overlapping region；
It is determined described in distance according to the location information of the characteristic point and the location information of multiple sweeping robots
The nearest sweeping robot of characteristic point.
Preferably, each described sweeping robot generates the sub- cartographic information by vision SLAM algorithm and/or holds
The detection of row closed loop.
Preferably, further include following steps after the step c:
D. the central server store the sub- cartographic information, the overlapping region cartographic information and it is described globally
Figure information is as the sub- cartographic information of history, history overlapping region cartographic information and history global map information.
The present invention also provides the control devices that a kind of sweeping robot cooperates, comprising:
Sub- cartographic information acquiring unit is used to obtain the sub- cartographic information that each described sweeping robot generates；
It is overlapped map information generating unit, is used to generate overlappingly based on the mutual intersection of the sub- cartographic information
Figure information is to determine corresponding overlapping region；
Collaborative Control unit controls the sweeping robot based on the overlapping cartographic information and is performed in unison with cleaning works；
And
Communication unit, the communication and information for being used for central server and multiple sweeping robots are transmitted.
Preferably, the Collaborative Control unit includes:
Edge detection module, the sub- cartographic information for being used to upload each sweeping robot carry out edge
Detection；
First determining module is used to determine the friendship that multiple sub- cartographic informations are mutual based on the edge detection
Collection.
Preferably, further include global map information generating unit, be used for the union based on the sub- cartographic information and generate
Global map information；Correspondingly,
The Collaborative Control unit further includes the first locating module, is used to obtain every based on the global map information
The location information of one sweeping robot；
Second determining module is used for based on determining the sweep the floor machine nearest with the overlapping region of the location information
People；And
Instruction sending module is used to send generation map and execution to the nearest sweeping robot in the overlapping region
The control instruction of cleaning works.
Preferably, second determining module includes:
Extraction module is used to extract positioning letter of the characteristic point in the global map information in the overlapping region
Breath；
Third determining module is used for according to the location information of the characteristic point and determining for multiple sweeping robots
Position information determines the sweeping robot nearest apart from the characteristic point.
Preferably, further include storage unit, be used to store the sub- cartographic information, the overlapping region cartographic information with
And the global map information is believed as the sub- cartographic information of history, history overlapping region cartographic information and history global map
Breath.
The invention further relates to the control system that a kind of sweeping robot cooperates, the control device through the invention
Control, including central server and multiple sweeping robots,
Wherein, multiple sweeping robots connect and communicate with the central server respectively, the central server
It controls multiple sweeping robots and is performed in unison with cleaning works.
Preferably, multiple sweeping robots are identical or not according to its own maximum map area for being covered of configuration
Together.
The present invention can be according to the number of sweeping robot and itself configuration, using the framework of center type, by center service
The building of device charge map and path planning, and sweeping robot is then only responsible for cleaning and data acquire.Realize multiple sweepers
Data sharing and collaborative work between device people.
The present invention is powerful, practical, can save hardware cost, improve the collaborative work energy of sweeping robot
Power has high reliability, fault-tolerance and intelligence.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 shows a specific embodiment of the invention, a kind of tool for the control method that sweeping robot cooperates
Body flow diagram；
Fig. 2 shows a specific embodiment of the invention, the sub- cartographic information of each sweeping robot generation is obtained
Idiographic flow schematic diagram；
Fig. 3 shows a specific embodiment of the invention, determines the specific stream of the mutual intersection of sub- cartographic information
Journey schematic diagram；
Fig. 4 shows a specific embodiment of the invention, the control method that another sweeping robot cooperates
Idiographic flow schematic diagram；
Fig. 5 shows a specific embodiment of the invention, a kind of mould for the control device that sweeping robot cooperates
Block structure schematic diagram；
Fig. 6 shows a specific embodiment of the invention, the specific modular structure schematic diagram of Collaborative Control unit；
Fig. 7 shows a specific embodiment of the invention, the control device that another sweeping robot cooperates
Modular structure schematic diagram；And
Fig. 8 shows a specific embodiment of the invention, and a kind of control system that sweeping robot cooperates is opened up
Flutter structural schematic diagram.
Specific embodiment
In order to preferably technical solution of the present invention be made clearly to show, the present invention is made into one with reference to the accompanying drawing
Walk explanation.
It will be appreciated by those skilled in the art that the present invention can apply in the environment such as large stadium, multiple machines of sweeping the floor are utilized
People, by the framework of central server formula, on the basis of single sweeping robot constructs map, by with central server
The shared of data is realized in communication, and constructs global map by central server, makes multiple sweeping robot concurrent workings, with more
Efficiently complete cleaning task.
Fig. 1 shows a specific embodiment of the invention, a kind of tool for the control method that sweeping robot cooperates
Body flow diagram.In the present invention, it is communicated by central server with multiple sweeping robots and realizes that data transmission and control refer to
The transmission and execution of order.It will be appreciated by those skilled in the art that each described sweeping robot is the individual of an autonomous working,
If each described sweeping robot still is able to normal work in the case where central server or communication failure
Make, entire workflow is consistent with existing sweeping robot.
Step S101 is first carried out, obtains the sub- cartographic information that each described sweeping robot generates.Specifically, described
Sweeping robot can by itself configuration built-in camera, laser range sensor, infrared sensor, ultrasonic sensor with
And the various kinds of sensors such as visual sensor carry out any combination perception working environment information, in conjunction with SLAM algorithm, to working environment
Comprehensive scanning is carried out, to construct the sub- cartographic information.The sub- cartographic information i.e. each described sweeping robot
The cartographic information generated and the perception, detection of environment in itself working region.Further, each described sweeper
Device people sub- cartographic information generated is related with the ability of sweeping the floor of the sweeping robot itself.Ability of sweeping the floor described in setting is institute
Sweeping robot is stated to be swept the floor region area according to itself maximum that can reach of configuration.The size of the sub- cartographic information and institute
The ability of sweeping the floor for stating sweeping robot is positively correlated.It will be appreciated by those skilled in the art that each described sweeping robot is as one
The individual of a autonomous working further can carry out path according to paths planning methods such as artificial visual field method, grid hair, Visual Graph methods
Planning.In the case where not having or not needing collaborative work, normal independently working is remained to.It should be noted that SLAM
(simulaneous localization and mapping) is positioned immediately and map structuring, for solving robot not
Know in environment and moved since a unknown position, self poisoning is carried out according to location estimation and map in moving process, together
When on the basis of self poisoning build increment type map, realize the autonomous positioning and navigation of robot.It more specifically, will be
It is described in aftermentioned specific embodiment, it will not be described here.In this step, the sweeping robot is connect simultaneously with central server
To realize that data are transmitted, the sub- cartographic information of each self-generating is uploaded to the center service by the sweeping robot for communication
Device, to complete the acquisition for the sub- cartographic information that the central server generates each described sweeping robot.
Then in step s 102, overlapping cartographic information is generated with true based on the mutual intersection of the sub- cartographic information
Fixed corresponding overlapping region, and the overlapping cartographic information is sent to the corresponding sweeping robot.Specifically, in described
After central server receives the sub- cartographic information that each sweeping robot uploads, to the different sub- cartographic informations into
Row detection and processing, so that it is determined that the positional relationship between multiple sub- cartographic informations, that is, judge multiple sub- map letters
Breath whether there is intersection between each other, if so, showing that there are overlapping regions for the working regions of multiple sweeping robots.Into
One step, the sub- cartographic information that there is intersection two-by-two is handled by the central server, obtains overlapping map letter
Breath, the overlapping cartographic information can be the map letter obtained after corresponding two sub- cartographic informations there are intersection merge
Breath, or there are the information of the intersection part of two sub- cartographic informations of intersection.It will be appreciated by those skilled in the art that every acquisition
One overlapping cartographic information be corresponding with two or more there are the sub- cartographic information of intersection and this two or two with
Two or more corresponding sweeping robots of upper sub- cartographic information.The central server is generating the overlapping map letter
After breath, the overlapping cartographic information is sent to the corresponding sweeping robot.So that multiple sweeping robots
The shared of the map information data respectively constructed is realized, with the decision and execution for subsequent clean operation.
Further, by step S103, the sweeping robot is controlled based on the overlapping cartographic information and is performed in unison with
Cleaning works.Specifically, it is carried out carrying out command and control to each sweeping robot by the central server, each
The sweeping robot is swept the floor described in other machine according to corresponding to the overlapping cartographic information and the overlapping cartographic information
People communicates indirectly using the central server as bridge, and the central server is to there are multiple sweepers of overlapping region
Device people carries out purging zone division and path planning, and multiple sweeping robots is avoided to repeat to clean shared overlapping region.
More specifically, it will be described below in embodiment and be described in detail, it will not be described here.
To sum up, the present invention by multiple sweeping robots in the same purging zone of central server Collaborative Control mutually it
Between carry out the shared of map datum, adjusts path is planned today, is divided to respective sweep-out pattern, with higher efficiency is held
Row cleaning task.
As the sub- embodiment of embodiment illustrated in fig. 1, Fig. 2 shows a specific embodiment of the invention, obtain each
The idiographic flow schematic diagram for the sub- cartographic information that a sweeping robot generates.As shown in Fig. 2, before the step S101 described in Fig. 1,
Step S1011 is executed, the communication connection between central server and multiple sweeping robots is established.Specifically, multiple described to sweep
It is reasonable that the number of floor-washing robot can be carried out according to the size of working environment, the size of ground obstacle, distribution and number
Planning arrangement.Each sweeping robot can be the sweeping robot of same model, same size, be also possible to difference
The sweeping robot of type, this does not affect essence of the invention.Further, the central server described is swept the floor with multiple
Communication modes between robot can according to need the different types of communication interface of selection and realize.Specifically, can pass through
The network communication protocols such as TCP, UDP, ARP, ICMP, HTTP, DNS and DHCP realize that it will not be described here.Further, exist
The central server and multiple sweeping robots are established before communication connection, by the sweeping robot active probe institute
State whether central server works normally, if so, establishing the communication between the central server and the sweeping robot
Connection.The framework mutually communicated to building with multiple sweeping robots under a central server.It should be noted that
In the system that the central server and multiple sweeping robots communicate, the central server is as in the control of center
The heart is responsible for controlling multiple sweeping robot parallel execution of data operations.The i.e. described central server is to described in each
Sweeping robot, which sends control instruction, and/or data are all independently of each other, can concurrently carry out, have no effect between each other.Into
One step, multiple sweeping robots are only used for executing the control instruction that the central server issues, i.e., multiple described to sweep
Floor-washing robot after connecting and entering the communication control system, then receive the central server/control, receive from described
The data and/or control instruction of central server simultaneously execute.
It will be appreciated by those skilled in the art that after the sweeping robot and the central server establish communication connection, it is more
A sweeping robot with shared data and can then cooperate.Each described each self-generating of sweeping robot is explained in detail below
The mode of corresponding word map information.
In step S1012, judge whether the sweeping robot is to communicate for the first time with the central server, if institute
Stating sweeping robot is to then follow the steps S1013 with central server communication for the first time, if the sweeping robot is not
S1014 is thened follow the steps with central server communication for the first time.It should be noted that when the judgement knot in step S1012
Fruit is then to show that the sweeping robot is not established with the central server before this when being and communicate, also do not participate in the present invention
Collaboration in, in the central server also without the sweeping robot save any sub- cartographic information and other letter
Breath.Conversely, when the judging result in the step S1012 be it is no when, then show the sweeping robot before this with it is described in it is genuinely convinced
Communication has been established in business device, and once participates in Collaboration of the invention, and the sweeper is preserved in the central server
The sub- cartographic information of the history of device people and other information.It is generally used for multiple sweeping robots and is each responsible for fixed area
It cooperates in cleaning work, setting in this way, it is possible to reduce the sweeping robot is detected and calculated again, is mentioned significantly
High composition efficiency.
Further, step S1013, the central server control the sweeping robot and generate the sub- map letter
Breath, and closed loop detection is executed to the sub- cartographic information.It will be appreciated by those skilled in the art that in VSLAM algorithm, closed loop detection is
Refer to that the ability of robot identification history arrival scene can reduce accumulated error if detected successfully significantly, its essence is
A kind of algorithm of detection observation data similarity.Specifically, the sweeping robot can take fixed time intervals section or row
Acquire an image into distance, and feature extracted to acquired image data, by extracted characteristics of image and its to it is corresponding when
Between store, to gradually establish database.It is detected by closed loop, certain rule and history is passed through to the image in traveling process
The image of acquisition is matched, and using matching result as the foundation for judging whether to access current location.Above-mentioned steps
S1012, step S1013 elaborate that each described sweeping robot generates the concrete mode of respectively sub- cartographic information jointly.
The sub- cartographic information of each self-generating is uploaded respectively and is sent to the central server by each described sweeping robot.
And in step S1014, the central server transfers the sub- map of history corresponding with the sweeping robot
Information, and the sweeping robot is controlled based on the sub- cartographic information of the history and generates the sub- cartographic information, and to the son
Cartographic information executes closed loop detection.Executing in the central server can be with to the closed loop detection process of the sub- cartographic information
With reference to above-mentioned steps S1013, it will not be described here.
It further include step S1015 after the step S1014 with continued reference to Fig. 2, based on the sub- map letter of the history
Breath generates Non-overlapping Domain with the sub- cartographic information, and controls the sweeping robot nearest with the Non-overlapping Domain and exist
The Non-overlapping Domain executes the cleaning works.It will be appreciated by those skilled in the art that since each sweeping robot is different
In the case of detection result it is not fully consistent, thus, each time, even to same purging zone, section in different times,
Its detection event can also have differences, thus cause sub- cartographic information generated not fully consistent.In this case,
Then may there are the blind area that do not detect, i.e., the described sub- cartographic information of history and presently described son ground in entire public purging zone
The Non-overlapping Domain of figure information.By the step, the sweeping robot can control to not detecting to be not included in institute
The region stated in sub- cartographic information is cleaned, and intelligence and the sweeping efficiency of the sweeping robot are improved.
Further, Fig. 3 shows a specific embodiment of the invention, determines the mutual intersection of sub- cartographic information
Idiographic flow schematic diagram.Specifically, in image processing step shown in Fig. 3, first by step S1021, to each
The sub- cartographic information that the sweeping robot uploads carries out edge detection.The step executes in the central server,
It will be appreciated by those skilled in the art that image edge information is concentrated mainly on high band, edge detection essence is exactly High frequency filter.In sky
For in domain operation, the sharpening to image is exactly computing differential.Due to the discrete signal of digital picture, differentiates and reform into meter
Calculate difference or gradient.There are many edge detection (gradient) operators in image procossing, commonly include common first-order difference, Robert
Operator (cross-differential), Sobel operator etc. are based on searching gradient intensity.Laplace operator (second differnce) is to be based on
Zero-crossing examination.By calculating gradient, threshold values is set, edge image is obtained.The central server reads and sweeps described in each
The data in the sub- cartographic information that floor-washing robot uploads, determine each sweeping robot by the edge detection algorithm
The boundary of the sub- map uploaded.
Then, by step S1022, the mutual friendship of multiple sub- cartographic informations is determined based on the edge detection
Collection.Behind the boundary for determining each sub- map by the step S1021, in this step, each is further obtained
Intersection between the sub- cartographic information, so that it is determined that multiple sub- maps whether there is overlapping region between each other.Then
The cartographic information of the overlapping region is sent to corresponding sweeping robot again, the sweeping robot with overlapping region it
Between cartographic information it is shared.
Further, Fig. 4 shows a specific embodiment of the invention, the control that another sweeping robot cooperates
The idiographic flow schematic diagram of method processed.As a preferred variant of embodiment illustrated in fig. 1, include the following steps:
Step S201 obtains the sub- cartographic information that each described sweeping robot generates.Those skilled in the art
The step can be realized with reference to step S101 in above-mentioned Fig. 1.Further, in the more preferably change case of the step S201
In, the step also successively includes following sub-step: establishing the communication between multiple sweeping robots and the central server
Connection；Judge whether the sweeping robot is to communicate for the first time with the central server；If the sweeping robot first
It is secondary that then the central server controls the sweeping robot generation sub- cartographic information with central server communication, and
Closed loop detection is executed to the sub- cartographic information；Conversely, if the sweeping robot and non-first time and the central server
Then the central server transfers the sub- cartographic information of history corresponding with the sweeping robot for communication, and is based on the history
Sub- cartographic information controls the sweeping robot and generates the sub- cartographic information, and executes closed loop inspection to the sub- cartographic information
It surveys.Above-mentioned steps can be with reference to step S1011, step S1012, step S1013 and step S1014 in embodiment illustrated in fig. 2
It realizes, it will not be described here.Further, in the feelings of the sweeping robot non-first time and central server communication
Further include step under condition, Non-overlapping Domain generated based on the sub- cartographic information of the history and the sub- cartographic information, and control with
The nearest sweeping robot of the Non-overlapping Domain executes the cleaning works in the Non-overlapping Domain.Art technology
Personnel can realize the step with reference to step S1015 in Fig. 2.
Further, step S2021 is executed, the sub- cartographic information that each described sweeping robot uploads is carried out
Edge detection；Step S2022 determines the mutual intersection of multiple sub- cartographic informations to generate based on the edge detection
It is overlapped cartographic information, and the overlapping cartographic information is sent to corresponding sweeping robot.It should be noted that as Fig. 1
The refinement of middle step S102, those skilled in the art can be in conjunction with step S1021 and steps in step S102 and Fig. 3 in Fig. 1
Rapid S1022 realizes above-mentioned steps S2021 and step S2022, and it will not be described here.Further, in the step S2022
It later further include step S2023, the union based on the sub- cartographic information generates global map information.Those skilled in the art's reason
Solution, each sweeping robot can only obtain the map for being scanned acquisition in limit of power of itself sweeping the floor to environment, described complete
Office's cartographic information then is based on obtaining after all the sub- cartographic information merges by the central server.Then, genuinely convinced in described
Business device can be allocated to different sweeping robots in the different piece of the overlapping region in the global map and carry out clearly
It sweeps, i.e., executes step after the step S2023: described in the control sweeping robot execution nearest with the overlapping region
Cleaning works.Specifically, step S2031, step S2032 and step S2033 have made specifically to retouch to above-mentioned steps in Fig. 4
It states.
First in step S2031, it is based on the global map information, obtains the positioning of each sweeping robot
Information.The location information refers to coordinate setting information of the sweeping robot in the global map, the positioning letter
Breath is to characterize each coordinate of the sweeping robot in the global map, between sweeping robot and sweeper
The positional relationship of device people and corresponding overlapping region.
Step S2032, based on location information determination and the nearest sweeping robot in the overlapping region.In the step
In, using each coordinate points in the overlapping region as object, obtain away from nearest sweeping robot.
Step S2033 generates map and execution cleaning works to sending with the nearest sweeping robot in the overlapping region
Control instruction.Specifically, the central server according to the sweeping robot respectively position and with the overlapping region
The positional relationship of middle difference coordinate points re-starts region division to the global map.And by the Area generation after repartitioning
Map is sent to corresponding sweeping robot, meanwhile, the sweeping robot receives the control from the central server and refers to
It enables, map cleaning is carried out to responsible region.
Further, in a preferred embodiment of the invention, it is determined as follows with the overlapping region most
Close sweeper people.Location information of the characteristic point in the global map information in the overlapping region is extracted first.It is described
Characteristic point is the arbitrary coordinate point in the overlapping region, can will be described in order to reduce the calculation amount of the central server
Overlapping region is divided into a series of identical grid of sizes, and it is big can to increased or decrease the area that the grid indicates as needed
It is small, using the central point of the grid as the characteristic point.Then according to the location information of the characteristic point and multiple described
The location information of sweeping robot determines the sweeping robot nearest apart from the characteristic point, and it will not be described here.
It should be noted that in the cleaning operation control process each time, the central server can in the present invention
To store the sub- cartographic information, overlapping region cartographic information and the global map information.Setting in this way, so that
In next cleaned, map can be constructed with history by the composition currently completed and be matched, to preferably instruct
Each described sweeping robot is cleaned, and is reduced the sweeping robot and is detected and calculated again, greatly improves structure
Figure efficiency.It will be appreciated by those skilled in the art that can be by extracting ground by the matching of the composition currently completed and history building map
The modes such as the characteristic point in figure realize that it will not be described here.
The device of the invention part is described in detail below in conjunction with attached drawing.It should be noted that control of the invention
Method is the various logic unit of device part through the invention, using digital signal processor, specific use integrated circuit, is showed
Field programmable gate array or other programmable logic device, hardware component (such as register and FIFO), execute it is a series of
The processor and programming software of firmware instructions, which combine, to be realized.
Fig. 5 shows a specific embodiment of the invention, a kind of mould for the control device that sweeping robot cooperates
Block structure schematic diagram.Specifically, the control device that the sweeping robot cooperates includes sub- cartographic information acquiring unit, again
Folded cartographic information generation unit, Collaborative Control unit and communication unit.Wherein, the sub- cartographic information acquiring unit is for obtaining
The sub- cartographic information for taking each described sweeping robot to generate, each described sweeping robot rely on the vision SLAM of itself
After algorithm composition generates sub- map, the sub- cartographic information is sent to the sub- cartographic information acquiring unit.It is described overlappingly
Figure information generating unit is used to generate overlapping cartographic information based on the mutual intersection of the sub- cartographic information and be corresponded to determining
Overlapping region.It will be appreciated by those skilled in the art that one overlapping cartographic information of every acquisition is corresponding with two or more and deposits
In the sub- cartographic information of intersection two or more sweeping robots corresponding with two or more sub- cartographic informations.
The overlapping map information generating unit after generating the overlapping cartographic information, again believe the overlapping map by central server
Breath is sent to the corresponding sweeping robot.So that multiple sweeping robots realize the cartographic information respectively constructed
Data are shared, with the decision and execution for subsequent clean operation.The Collaborative Control unit is believed based on the overlapping map
Breath controls the sweeping robot and is performed in unison with cleaning works.Specifically, described to cooperate with according to the overlapping cartographic information again
After determining the corresponding cleaning region of each sweeping robot, appointed by sending to execute to clean to sweeping robot described in each
The control instruction of business, the sweeping robot receive after the control instruction according to the control instruction in respective purging zone
It is interior to execute corresponding cleaning task.Further, the communication unit is swept as heretofore described central server with described
It is communicated between floor-washing robot and the bridge of data transmission, for realizing the logical of central server and multiple sweeping robots
News are transmitted with information, to build using the central server as control centre, multiple sweeping robots are as execution
The framework of terminal.It should be noted that communication modes between the central server and multiple sweeping robots can be with
Different types of communication interface is selected to realize as needed.Specifically, can by TCP, UDP, ARP, ICMP, HTTP, DNS and
The network communication protocols such as DHCP realize that it will not be described here.
Further, as a sub- embodiment of embodiment illustrated in fig. 5, Fig. 6 shows specific embodiment party of the invention
Formula, the specific modular structure schematic diagram of Collaborative Control unit.As shown in fig. 6, the Collaborative Control unit further includes edge inspection
Survey module and the first determining module.Wherein, the edge detection module is used to upload each sweeping robot
The sub- cartographic information carries out edge detection.It will be appreciated by those skilled in the art that image edge information is concentrated mainly on high band, side
Edge detection essence is exactly High frequency filter.For in space field operation, the sharpening to image is exactly computing differential.Due to digital picture
Discrete signal, differentiating to reform into calculates difference or gradient.There are many edge detection (gradient) operators in image procossing, often
Including common first-order difference, Robert operator (cross-differential), Sobel operator etc. is based on searching gradient intensity.It draws
General Laplacian operater (second differnce) is based on zero-crossing examination.By calculating gradient, threshold values is set, edge image is obtained.It is described
Central server reads the data in the sub- cartographic information that each described sweeping robot uploads, and is examined by the edge
Method of determining and calculating determines the boundary for the sub- map that each sweeping robot uploads.Further, first determining module is used for base
The mutual intersection of multiple sub- cartographic informations is determined in the edge detection.First determining module passes through to multiple
The sub- cartographic information carries out images match, intersection, that is, same section between multiple sub- cartographic informations is obtained, thus really
Overlapping region between fixed multiple sweeping robots, it will not be described here.
Further, Fig. 7 shows a specific embodiment of the invention, the control that another sweeping robot cooperates
The modular structure schematic diagram of device processed.In such embodiments, the control device of the sweeping robot collaborative work includes
Sub- cartographic information acquiring unit, Collaborative Control unit, global map information generating unit, is led at overlapping map information generating unit
Interrogate unit and storage unit.Wherein, the sub- cartographic information acquiring unit, overlapping map information generating unit and communication are single
Member can refer to above-mentioned Fig. 5 and embodiment, and it will not be described here.As a preferred variant of embodiment described in Fig. 5,
In Fig. 7, the global map information generating unit generates global map information for the union based on the sub- cartographic information.Tool
Body, the whole that the global map information generating unit the will acquire sub- cartographic information merges processing, final to obtain
The global map information, the global map information include whole sub- cartographic informations, to characterize multiple described sweep
The region that floor-washing robot cooperates.Further, the Collaborative Control unit specifically includes edge detection module, first really
Cover half block, the first locating module, the second determining module and instruction sending module.Wherein, the edge detection module and institute
Stating the first determining module can be with reference to above-mentioned Fig. 6 and its specific embodiment, and it will not be described here.In this embodiment, described
One locating module is used for the location information based on each sweeping robot of global map acquisition of information, that is, each institute
State coordinate situation of the sweeping robot in the global map.Second determining module is used for true based on the location information
The fixed and nearest sweeping robot in the overlapping region.Described instruction sending module be used for the overlapping region is nearest sweeps
Floor-washing robot sends the control instruction for generating map and executing cleaning works.Setting in this way utilizes the Collaborative Control
Unit realizes that multiple sweeping robots execute cleaning works in the specified region of division according to control instruction, avoids simultaneously
Different sweeping robots repeat to clean to the same area.Further, the storage unit for store the sub- cartographic information,
Overlapping region cartographic information and the global map information.Thus when being cleaned next time, it can be by currently completing
Composition and history building map matched, so that each sweeping robot preferably be instructed to be cleaned, reduce sweeper
Device people detects and calculates again, greatly improves composition efficiency.
As a preferred sub- embodiment of embodiment illustrated in fig. 7, second determining module further includes extraction module
With third determining module.Wherein, the extraction module is believed for extracting characteristic point in the overlapping region in the global map
Location information in breath；The third determining module is used for location information and multiple sweepers according to the characteristic point
The location information of device people determines the sweeping robot nearest apart from the characteristic point.In such embodiments, described second really
Cover half block is determined away from nearest sweeping robot by the coordinate points to the entire area in the overlapping region to really
The division of different zones in the fixed overlapping region, it will not be described here.
Further, Fig. 8 shows a specific embodiment of the invention, a kind of control that sweeping robot cooperates
The topological structure schematic diagram of system.The control system that the sweeping robot cooperates includes central server and multiple sweeps
Floor-washing robot, wherein multiple sweeping robots connect and communicate with the central server respectively, the central server
It controls multiple sweeping robots and is performed in unison with cleaning works.The number of multiple sweeping robots can be according to each
The ability of sweeping the floor of the sweeping robot is reasonably arranged with the size for needing to clean region.Further, more
A sweeping robot is same or different according to the maximum map area that its own configuration is covered.
As shown in figure 8, in control system of the invention, each described sweeping robot both can by with the center
It cooperates, can also work independently after server communication.The sweeping robot can carry out ground by vision SLAM algorithm
The building of figure.Each self-generator cartographic information is uploaded to the central server by each described sweeping robot, it is described in
Central server receive the sub- cartographic information that each sweeping robot uploads and generate each sweeping robot two-by-two it
Between overlapping cartographic information and global map information, then by central server calculate map on possible blind area, and send refer to
It enables to nearest sweeping robot execution, it will not be described here.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (17)
1. the control method that a kind of sweeping robot cooperates controls multiple sweeping robots based on central server and cooperates with work
Make, which comprises the steps of:
A. the sub- cartographic information that each described sweeping robot generates is obtained；
B. overlapping cartographic information is generated based on the mutual intersection of the sub- cartographic information to determine corresponding overlapping region, and will
The overlapping cartographic information is sent to the corresponding sweeping robot；
C. the sweeping robot is controlled based on the overlapping cartographic information and is performed in unison with cleaning works.
2. control method according to claim 1, which is characterized in that further include step a1. foundation before the step a
Communication connection between multiple sweeping robots and the central server, the central server control multiple sweepers
Device people's parallel execution of data operation, the control that multiple sweeping robots are only used for executing the central server sending refer to
It enables.
3. control method according to claim 2, which is characterized in that each described sweeping robot in the step a
The sub- cartographic information is generated in the following way:
A2. judge whether the sweeping robot is to communicate for the first time with the central server, if the sweeping robot the
A3 once is thened follow the steps with central server communication, if the sweeping robot and non-first time and the center service
Device communication thens follow the steps a4；
A3. the central server controls the sweeping robot and generates the sub- cartographic information, and to the sub- cartographic information
Execute closed loop detection；
A4. the central server transfers the sub- cartographic information of history corresponding with the sweeping robot, and is gone through based on described
The sub- cartographic information of history controls the sweeping robot and generates the sub- cartographic information, and executes closed loop inspection to the sub- cartographic information
It surveys.
4. control method according to claim 3, which is characterized in that also executed the following steps: after the step a4
A5. Non-overlapping Domain is generated based on the sub- cartographic information of the history and the sub- cartographic information, and control with it is described non-heavy
The nearest sweeping robot in folded region executes the cleaning works in the Non-overlapping Domain.
5. control method according to any one of claim 1 to 4, which is characterized in that the step b further includes walking as follows
It is rapid:
B1. edge detection is carried out the sub- cartographic information that each described sweeping robot uploads；
B2. the mutual intersection of multiple sub- cartographic informations is determined based on the edge detection.
6. control method according to claim 5, which is characterized in that the step c further include step c1. control with it is described
The nearest sweeping robot in overlapping region executes the cleaning works.
7. control method according to claim 6, which is characterized in that the step b further includes following steps:
Union based on the sub- cartographic information generates global map information；
Correspondingly, the step c1 includes the following steps:
C11. it is based on the global map information, obtains the location information of each sweeping robot；
C12. based on location information determination and the nearest sweeping robot in the overlapping region；
C13. the control instruction for generating map and executing cleaning works is sent to the nearest sweeping robot in the overlapping region.
8. control method according to claim 6 or 7, which is characterized in that be determined as follows and the overlay region
The nearest sweeping robot in domain:
Extract location information of the characteristic point in the global map information in the overlapping region；
It is determined according to the location information of the characteristic point and the location information of multiple sweeping robots apart from the feature
The nearest sweeping robot of point.
9. control method described in any one of according to claim 1 to 4 or 6 or 7, which is characterized in that sweep the floor described in each
Robot generates the sub- cartographic information by vision SLAM algorithm and/or executes closed loop detection.
10. control method according to claim 9, which is characterized in that further include following steps after the step c:
D. the central server stores the sub- cartographic information, the overlapping region cartographic information and global map letter
Breath is used as the sub- cartographic information of history, history overlapping region cartographic information and history global map information.
11. the control device that a kind of sweeping robot cooperates characterized by comprising
Sub- cartographic information acquiring unit is used to obtain the sub- cartographic information that each described sweeping robot generates；
It is overlapped map information generating unit, is used to generate overlapping map letter based on the mutual intersection of the sub- cartographic information
Breath is to determine corresponding overlapping region；
Collaborative Control unit controls the sweeping robot based on the overlapping cartographic information and is performed in unison with cleaning works；And
Communication unit, the communication and information for being used for central server and multiple sweeping robots are transmitted.
12. control device according to claim 11, which is characterized in that the Collaborative Control unit includes:
Edge detection module, the sub- cartographic information for being used to upload each sweeping robot carry out edge inspection
It surveys；
First determining module is used to determine the intersection that multiple sub- cartographic informations are mutual based on the edge detection.
13. control device according to claim 12, which is characterized in that it further include global map information generating unit,
Global map information is generated for the union based on the sub- cartographic information；Correspondingly,
The Collaborative Control unit further includes the first locating module, is used to obtain each based on the global map information
The location information of the sweeping robot；
Second determining module is used for based on location information determination and the nearest sweeping robot in the overlapping region；With
And
Instruction sending module is used to generate map to the sweeping robot transmission nearest with the overlapping region and executes cleaning
The control instruction of work.
14. control device according to claim 13, which is characterized in that second determining module includes:
Extraction module is used to extract location information of the characteristic point in the global map information in the overlapping region；
Third determining module is used for the positioning letter of the location information and multiple sweeping robots according to the characteristic point
Breath determines the sweeping robot nearest apart from the characteristic point.
15. control device described in any one of 1 to 14 according to claim 1, which is characterized in that it further include storage unit,
For storing the sub- cartographic information, the overlapping region cartographic information and the global map information as the sub- map of history
Information, history overlapping region cartographic information and history global map information.
16. the control system that a kind of sweeping robot cooperates, passes through control described in any one of claim 10 to 14
Device control, which is characterized in that including central server and multiple sweeping robots,
Wherein, multiple sweeping robots connect and communicate with the central server respectively, the central server control
Multiple sweeping robots are performed in unison with cleaning works.
17. control system according to claim 16, which is characterized in that multiple sweeping robots are matched according to its own
It is same or different to set the maximum map area covered.
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Effective date of registration: 20211214 Address after: 518063 2W, Zhongdian lighting building, Gaoxin South 12th Road, Nanshan District, Shenzhen, Guangdong Patentee after: Shenzhen point cloud Intelligent Technology Co.,Ltd. Address before: 518023 No. 3039 Baoan North Road, Luohu District, Shenzhen City, Guangdong Province Patentee before: Zhou Qinna |