Self-moving robot, map building method, and map invoking method for combined robot

The self-movement robot includes a robot body and a control center disposed on the body. The body includes a first distance sensor disposed in a horizontal direction used to collect two-dimensional map information and a second distance sensor disposed in a vertical direction used to collect spatial height information. While obtaining the two-dimensional map information of a working surface, the control center overlays the spatial height information to the two-dimensional map information and obtains three-dimensional map information of a working region. Through the distance sensors disposed on the self-movement robot, based on the generated two-dimensional map, the spatial height information is overlaid and the three-dimensional map information is generated. In a combined state, the robot invokes and plans a walking path in the working region based on the three-dimensional map, thereby helping to ensure smooth, safe and efficient operation of the combined robot in a complex environment.

FIELD

The present disclosure relates to a self-movement robot, a map building method, and a map invoking system for a combined robot.

BACKGROUND

A self-movement robot may be used for its convenient control and flexible action. For some self-movement robots, such as an integrated combined robot, the height may be limited to a certain degree. In the walking process of the self-movement robot, if the height of an obstacle is less than the height of the body of the self-movement robot, then the self-movement walk of the robot is hindered and the self-movement robot cannot pass through the obstacle smoothly.

SUMMARY

In the present disclosure, a self-movement robot, a map building method, and a map invoking system for a combined robot is provided in view of the defects of other applications. For example, through distance sensors disposed on the self-movement robot, based on a generated two-dimensional map, spatial height information may be overlaid and three-dimensional map information may be generated. Additionally or alternatively, in a combined state, the robot invokes and plans a walking path in a working region based on a three-dimensional map, thereby ensuring smooth, safe and efficient operation of the combined robot in a complex environment.

In these or other embodiments of the present disclosure, a self-movement robot includes, for example, a robot body and a control center disposed on the body, wherein the robot body includes a first distance sensor disposed in a horizontal direction and a second distance sensor disposed in a vertical direction. In these or other embodiments, the first distance sensor collects two-dimensional map information of a working surface in which the self-movement robot is located. Additionally or alternatively, the second distance sensor collects spatial height information above the working surface in which the self-movement robot is located; and while obtaining the two-dimensional map information of the working surface, the control center overlays the spatial height information to the two-dimensional map information and obtains three-dimensional map information of a working region.

In these or other embodiments, the first distance sensor and the second distance sensor may include an ultrasonic sensor, an infrared sensor and/or a visual sensor. Additionally or alternatively, the spatial height information above the working surface is a distance from the working surface to a lower surface of an encountered obstacle.

The present disclosure also provides a map building method for the above self-movement robot, including the following example steps: step100: generating two-dimensional map information of a working surface; and step200: collecting spatial height information above the working surface in real time and overlaying the spatial height information to the two-dimensional map information of the working surface to obtain and save three-dimensional map information of a working region.

In these or other embodiments, the two-dimensional map information in the step100is obtained by the self-movement robot traversing, walking and scanning the working surface. Additionally or alternatively, the spatial height information above the working surface in the step200is a distance from the working surface to a lower surface of an encountered obstacle.

An example process of overlaying the spatial height information to the pre-generated two-dimensional map information may include: step201: the self-movement robot walking in the working region, recording a coordinate of a discrete point N1as (x1, y1), simultaneously (or approximately simultaneously) detecting a spatial height above the point N1as h1, and then recording a three-dimensional coordinate of a highest point M1of the space above the discrete point N1as (x1, y1, h1); step202: the self-movement robot continuing to walk, and continuing to record three-dimensional coordinates of highest points M2to Mn of the spaces above discrete points N2to Nn until the self-movement robot completes a traversal and walk in the working region; and step203: fitting spatial information from a surface fitted by the discrete points N1to Nn to a surface fitted by the points M1to Mn into three-dimensional map information and saving in memory (e.g., of a storage unit). In these or other embodiments, a three-dimensional map of the working region is built according to the three-dimensional map information saved in the step203.

In some embodiments, a map invoking system for a combined robot is provided or utilized. The combined robot includes a self-movement robot and a functional module combined and connected with the self-movement robot. The self-movement robot is provided with a storage unit and the two-dimensional map information and the three-dimensional map information of the working region configured to be stored in the storage unit.

In some embodiments, the combined robot includes an uncombined mode and a combined mode. When the self-movement robot works individually or alone, the combined robot is in the uncombined mode; and when the self-movement robot is combined and connected with the functional module, the combined robot is in the combined mode.

In the uncombined mode, the self-movement robot invokes the two-dimensional map information and conducts a walking operation on a two-dimensional working surface.

In the combined mode, the combined robot invokes the three-dimensional map information and conducts a walking operation on a three-dimensional working region. For example, in the combined mode, the combined robot plans a walking path according to the three-dimensional map information and computes a walkable working region.

Additionally or alternatively, the combined robot computes: map information of a first plane P1according to body height L and the three-dimensional map information. In these or other embodiments, a height difference between the first plane P1and the working surface is the body height L of the combined robot. Additionally or alternatively, the combined robot plans the walking path according to the two-dimensional map information of the first plane P1.

Thus, in some embodiments, the present disclosure provides a self-movement robot, a map building method, and a map invoking system for a combined robot. In the present disclosure, through the distance sensors disposed on the self-movement robot, based on the generated two-dimensional map, the spatial height information is overlaid and the three-dimensional map information is generated; and in the combined state, the robot invokes and plans the walking path in the working region based on the three-dimensional map, thereby helping to ensure smooth, safe and efficient operation of the combined robot in a complex environment.

The technical solution of the present disclosure is described below in detail in combination with drawings and specific embodiments.

DESCRIPTION OF EXAMPLE EMBODIMENTS

FIG. 1is an example structural schematic diagram of a self-movement robot. As shown inFIG. 1, the self-movement robot10includes a robot body100and a control center (not shown in the figure) disposed on the body100, wherein the robot body100includes a first distance sensor101disposed in a horizontal direction and a second distance sensor102disposed in a vertical direction. In these or other embodiments, the first distance sensor101collects two-dimensional map information of a working surface W in which the self-movement robot is located; and the second distance sensor102collects spatial height information above the working surface W in which the self-movement robot is located. Additionally or alternatively, while obtaining the two-dimensional map information of the working surface W, the control center overlays the spatial height information to the two-dimensional map information and obtains three-dimensional map information of a working region. Additionally or alternatively, for a point A, two-dimensional map information is (x1, y1) and the spatial height information is h1, the combining, by the control center, the spatial height information with the two-dimensional map information to obtain three-dimensional map information of a working region may be a process of combining the (x1, y1) and h1 to obtain (x1, y1, h1) as three-dimensional map information. Additionally or alternatively, the first distance sensor101and the second distance sensor102include an ultrasonic sensor, an infrared sensor and/or a visual sensor. For example, the spatial height information above the working surface W is a distance from the working surface to a lower surface of an encountered obstacle in an up-down direction.

FIG. 2is a simplified flow chart of a three-dimensional map building method for a self-movement robot. As shown inFIG. 2, a map building method for the self-movement robot provided in the embodiment as mentioned above includes the following example steps: step100: generating two-dimensional map information of a working surface; and step200: collecting spatial height information above the working surface in real time and overlaying the spatial height information to the two-dimensional map information of the working surface to obtain and save three-dimensional map information of a working region (in other words, obtain the three-dimensional map information of a working region and save the obtained three-dimensional map information of a working region).

Additionally or alternatively, the two-dimensional map information in the step100is obtained by the self-movement robot traversing, walking and scanning the working surface. Additionally or alternatively, the traversing walk is a operation or a process that the self-moving robot walks in the in a working region and walks all through the in the working region (in other words, traverses the in the working region). In these or other embodiments, the spatial height information above the working surface in the step200is a distance from the working surface to a lower surface of an encountered obstacle in an up-down direction.

An example process of overlaying the spatial height information to the pre-generated two-dimensional map information may include: step201: the self-movement robot walking in the working region, recording a coordinate of a discrete point N1as (x1, y1), simultaneously (or approximately simultaneously) detecting a spatial height above the point N1as h1, and then recording a three-dimensional coordinate of a highest point M1of the space above the discrete point N1as (x1, y1, h1); step202: the self-movement robot continuing to walk, and continuing to record three-dimensional coordinates of highest points M2to Mn of the spaces above discrete points N2to Nn until the self-movement robot completes a traversal and walk in the working region; and step203: fitting spatial information from a surface fitted by the discrete points N1to Nn to a surface fitted by the points M1to Mn into three-dimensional map information and saving. In these or other embodiments, a three-dimensional map of the working region is built according to the three-dimensional map information saved in the step203.

FIG. 3is an example structural schematic diagram of a combined robot. As shown inFIG. 3, the combined robot A includes the above self-movement robot10and a functional module20integrated on the self-movement robot, wherein the self-movement robot includes, for example, a cleaning robot, a transporting robot or a walking robot capable of working individually. In one embodiment of the present disclosure, the self-movement robot10is a sweeping robot. Additionally or alternatively, the functional module20may be one submodule or a combination of more submodules of a security module, a humidifying module and a purifying module.

In these or other embodiments, the present disclosure includes a map invoking system for a combined robot. The combined robot A includes a self-movement robot10and a functional module20combined and connected with the self-movement robot. The self-movement robot10is provided with a storage unit (not shown in the figure), and the two-dimensional map information and the three-dimensional map information of the working region are stored in the storage unit. The combined robot A includes two working modes, such as an uncombined mode and a combined mode. When the self-movement robot10individually works, the combined robot is in the uncombined mode; and when the self-movement robot10is combined and connected with the functional module20, the combined robot is in the combined mode. In the uncombined mode, the self-movement robot10invokes the two-dimensional map information and conducts a walking operation on a two-dimensional working surface W. Additionally or alternatively, for a wiping robot, conducting the walking operation may conduct wiping operation well walks in a working region. In the combined mode, the combined robot10invokes the three-dimensional map information and conducts a walking operation in a three-dimensional working region.

For example, in the combined mode, the combined robot A plans a walking path according to the three-dimensional map information and computes a walkable working region. A method for planning the walking path may include: the combined robot computing a plane map with a height L from the ground according to body height L and the three-dimensional map; and the combined robot planning the walking path according to the plane map. Additionally or alternatively, the method may further include a step of determining whether the self-moving robot of the combined robot10is combined and connected with the functional module, when the self-moving robot is not combined and connected with the functional module, the self-moving robot works individually (that is the combined robot is in the uncombined mode), and when the self-moving robot is combined and connected with the functional module, the self-moving robot works not individually (that is the combined robot10is in the combined mode).

FIG. 4is a schematic diagram of a walking state of a combined robot of the present disclosure on a working surface. As shown inFIG. 4, for example, the combined robot computes map information of a first plane P1according to the body height L and the three-dimensional map information. In these or other embodiments, a height difference between the first plane P1and the working surface W is the body height L of the combined robot. Additionally or alternatively, the combined robot plans the walking path according to the two-dimensional map information of the first plane P1.

As shown inFIG. 1toFIG. 4, the actual working process of the embodiments of the present disclosure may be as follows:

As shown inFIG. 1, after the self-movement robot10walks and scans in the working environment to build a map or traverses, walks and records the coordinate information of the working plane to build a map, a two-dimensional map is formed in the control center of the self-movement robot10. The formation process of the above two-dimensional map may be presented in other applications[SS1], and is not repeated herein. Additionally or alternatively, the self-movement robot10continues to traverse and walk in the working environment. During walking, the distance sensors collect the height information in the working environment in real time (or approximately real time) and transmit the height information to the control center. The control center overlays the height information to the pre-generated two-dimensional map to obtain a three-dimensional map and save the three-dimensional map into the control center.

In these or other embodiments, when the self-movement robot adopts the above mode of traversing, walking and recording the coordinate information of the working plane to build the map, the self-movement robot can simultaneously (or approximately simultaneously) record the spatial height information, e.g., when obtaining the two-dimensional information of the working plane, the self-movement robot can simultaneously (or approximately simultaneously) collect the three-dimensional information of the working region to complete the building of the three-dimensional map of the working region. When the combined robot, as shown inFIG. 3, is combined and connected, the height of the combined robot is higher than the height of the self-movement robot10. Therefore, an original two-dimensional map may not be enough to be used as the basis for planning the walking path of the combined robot. For example, a position which could be smoothly passed previously by the self-movement robot10may become impassable due to the problem of the increased height of the combined robot. At this moment, the three-dimensional map may be invoked to plan the walking path of the combined robot.

As shown inFIG. 4, the body height of the self-movement robot10in the combined state is L. In the present embodiment, the combined robot computes map information of the first plane P1with a height L away from the working plane W of the self-movement robot through the above three-dimensional map. The first plane P1can be regarded as the walkable working plane of the combined robot, and the walking path of the combined robot is planned in the map of the first plane P1.

Thus, in some embodiments, the present disclosure provides a self-movement robot, a map building method, and a map invoking system for a combined robot. In the present disclosure, through the distance sensors disposed on the self-movement robot, based on the generated two-dimensional map, the spatial height information is overlaid and the three-dimensional map information is generated; and in the combined state, the robot invokes and plans the walking path in the working region based on the three-dimensional map, thereby helping to ensure smooth, safe and efficient operation of the combined robot in a complex environment. In accordance with common practice, the various features illustrated in the drawings may not be drawn to scale. The illustrations presented in the present disclosure are not meant to be actual views of any particular apparatus (e.g., device, system, etc.) or method, but are merely idealized representations that are employed to describe various embodiments of the disclosure. Accordingly, the dimensions of the various features may be arbitrarily expanded or reduced for clarity. In addition, some of the drawings may be simplified for clarity. Thus, the drawings may not depict all of the components of a given apparatus (e.g., device) or all operations of a particular method.