WO2019104663A1

WO2019104663A1 - Method for automated floor mopping and floor mopping robot

Info

Publication number: WO2019104663A1
Application number: PCT/CN2017/114009
Authority: WO
Inventors: 王声平; 张立新
Original assignee: 深圳市沃特沃德股份有限公司
Priority date: 2017-11-30
Filing date: 2017-11-30
Publication date: 2019-06-06

Abstract

A method for automated floor mopping. The method for automated floor mopping comprises: receiving map information transmitted by a floor sweeping robot (S1); planning a floor mopping route on the basis of the map information (S2); and mopping a floor according to the floor mopping route (S3). The method for automated floor mopping, with the floor sweeping robot and a floor mopping robot working in collaboration, effectively increases cleaning work efficiency.

Description

\¥0 2019/104663 卩(:17 \2017/114009

Automatic wiping method and wiping robot

Technical field

[0001] The present invention relates to the field of robots, and more particularly to a method of automatically wiping the ground and a wiping robot.

Background technique

[0002] In the household cleaning work, in addition to using the suction method, it is also necessary to use a wet mop to clean stubborn stains, and the existing cleaning robot generally has a suction sweeping machine, a wiping machine, etc., to complete the whole Home cleaning requires two high-priced sweepers and scrubbers, or sweeping and wiping functions integrated into one machine to save costs, but at this time the sweeping function cannot work at the same time, only after the sweep is over. Restart the ground and the work efficiency is still low.

[0003] Therefore, the prior art still needs to be improved.

technical problem

The main object of the present invention is to provide a method for automatically wiping the ground, which aims to solve the technical problem of high cost and low work efficiency of the existing home cleaning robot.

Problem solution

Technical solution

[0005] The present invention provides a method for automatically wiping the ground, including:

Receiving map information sent by the cleaning robot;

[0007] planning a wiping route according to the above map information;

[0008] Wiping the ground according to the rubbing route described above.

[0009] Preferably, before the step of receiving the map information sent by the cleaning robot, the method includes:

[0010] establishing a communication connection with the above-described cleaning robot.

[0011] Preferably, the step of establishing a communication connection with the above-mentioned cleaning robot includes:

[0012] determining whether there is a matching grounding robot;

[0013] If yes, send a communication connection request to the cleaning robot.

[0014] receiving a connection instruction of the above-mentioned cleaning robot feedback;

[0015] establishing a communication connection with the above-described cleaning robot according to the connection instruction. \¥0 2019/104663 卩(:17 \2017/114009

[0016] Preferably, before the step of receiving the map information sent by the cleaning robot, the method includes:

[0017] acquiring a coordinate system conversion relationship;

And transmitting the coordinate system conversion relationship to the cleaning robot, so that the cleaning robot converts the stored map into the map information according to the coordinate system conversion relationship.

[0019] Preferably, the step of planning the wiping route according to the map information includes:

[0020] acquiring a coordinate system conversion relationship;

[0021] converting the map information into an adapted first map according to the coordinate system conversion relationship;

[0022] The above-described wiping route is planned according to the first map described above.

[0023] Preferably, the map information is map coordinate element information, and the step of planning the wiping route according to the map information includes:

[0024] acquiring a coordinate system conversion relationship;

[0025] converting the map coordinate element information into a specified coordinate element according to the coordinate system conversion relationship;

[0026] counting the specified coordinate elements to form a second map;

[0027] planning the above-described wiping route according to the second map described above.

[0028] Preferably, the step of acquiring a coordinate system conversion relationship includes:

Receiving guidance information of the above-mentioned cleaning robot;

[0030] moving to a specified position relative to the cleaning robot according to the guiding information to determine a position difference between the sweeping robot and the wiping robot;

[0031] acquiring the coordinate system conversion relationship according to the position difference amount described above.

[0032] Preferably, the specified position is directly adjacent to the cleaning robot, and the step of moving to the designated position relative to the cleaning robot according to the guiding information includes:

[0033] monitoring signal strength distribution information of the above-mentioned cleaning robot? address;

[0034] obtaining a signal strength increasing direction according to the intensity distribution information;

[0035] moving in the increasing direction of the signal intensity to the area where the cleaning robot is located;

[0036] determining whether an infrared guiding signal emitted by the cleaning robot is received;

[0037] If yes, the infrared guiding signal is in close contact with the designated portion of the cleaning robot.

[0038] The present invention also provides a mopping robot, comprising:

[0039] a receiving module, configured to receive map information sent by the cleaning robot; \¥0 2019/104663 卩(:17 \2017/114009

[0040] a planning module, configured to plan a wiping route according to the map information;

[0041] performing a module for wiping the ground according to the above-mentioned wiping route.

[0042] Preferably, the above-mentioned wiping robot includes:

[0043] establishing a module, configured to establish a communication connection with the above-mentioned cleaning robot.

[0044] Preferably, the foregoing establishing module includes:

[0045] a determining submodule, configured to determine whether there is a matching grounding robot;

And [0046] the first sending submodule, configured to send a communication connection request to the cleaning robot.

[0047] a first receiving submodule, configured to receive a connection instruction fed back by the cleaning robot;

And [0048] establishing a submodule, configured to establish a communication connection with the cleaning robot according to the connection instruction.

[0049] Preferably, the receiving module includes:

[0050] a first obtaining submodule, configured to acquire a coordinate system conversion relationship;

[0051] The second transmitting submodule is configured to transmit the coordinate system conversion relationship to the cleaning robot, so that the cleaning robot converts the stored map into the map information according to the coordinate system conversion relationship.

[0052] Preferably, the foregoing planning module includes:

[0053] a second obtaining submodule, configured to acquire a coordinate system conversion relationship;

[0054] a first conversion submodule, configured to convert the map information into an adapted first map according to the coordinate system conversion relationship;

[0055] The first planning sub-module is configured to plan the wiping route according to the first map.

[0056] Preferably, the map information is map coordinate element information, and the planning module further includes:

[0057] a third obtaining submodule, configured to acquire a coordinate system conversion relationship;

[0058] a second conversion submodule, configured to convert the map coordinate element information into a specified coordinate element according to the coordinate system conversion relationship;

[0059] a statistical sub-module, configured to calculate the specified coordinate element to form an adapted second map;

[0060] a second planning sub-module, configured to plan the wiping route according to the second map.

[0061] Preferably, the foregoing first obtaining submodule, the second obtaining submodule, or the third obtaining submodule includes:

[0062] a receiving unit, configured to receive guiding information of the foregoing cleaning robot;

[0063] a moving unit, configured to move to a specified position relative to the cleaning robot according to the guiding information, so as to determine a position difference between the cleaning robot and the cleaning robot; \¥0 2019/104663 卩(:17 \2017/114009

And an obtaining unit, configured to acquire the coordinate system conversion relationship according to the position difference amount.

[0065] Preferably, the specified location is in close contact with the cleaning robot, and the moving unit includes:

[0066] a monitoring subunit, configured to monitor signal strength distribution information of the above-mentioned cleaning robot address;

[0067] an obtaining subunit, configured to obtain a signal strength increasing direction according to the intensity distribution information;

[0068] a mobile subunit, configured to move to the area where the cleaning robot is located along the increasing direction of the signal strength;

[0069] a determining subunit, configured to determine whether an infrared guiding signal emitted by the cleaning robot is received;

[0070] closely adjacent to the subunit, and if so, is in close contact with the designated portion of the cleaning robot according to the infrared guiding signal.

Advantageous effects of the invention

Beneficial effect

[0071] Advantageous Effects of Invention According to the present invention, the present invention effectively improves the cleaning work efficiency by working in cooperation with the cleaning robot and the wiping robot. Moreover, through the cooperation of the sweeping robot and the wiping robot, it is only necessary to configure a variety of advanced sensors such as vision and laser sensors on the sweeping robot, and to use the map data such as the rubbing route to plan the information such as the rubbing route. The machine interaction is obtained from the sweeping robot, thereby wiping the ground according to the information, reducing the manufacturing cost of the wiping robot, and achieving the rubbing effect of the high-end wiping robot.

Brief description of the drawing

DRAWINGS

1 is a schematic flow chart of a method for automatically wiping ground according to an embodiment of the present invention;

2 is a schematic flow chart of step 34 in an embodiment of the present invention;

3 is a schematic flow chart of steps in an embodiment of the present invention;

4 is a schematic flow chart of step 32 in another embodiment of the present invention;

5 is a schematic flow chart of step 32 in still another embodiment of the present invention;

6 is a schematic flow chart of step 310 in an embodiment of the present invention;

7 is a schematic flow chart of step 3102 in an embodiment of the present invention;

8 is a schematic structural view of a mopping robot according to an embodiment of the present invention;

9 is a schematic structural diagram of an establishing module in an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a receiving module according to an embodiment of the present invention; FIG. \¥0 2019/104663 卩(:17 \2017/114009

11 is a schematic structural diagram of a planning module in another embodiment of the present invention;

12 is a schematic structural diagram of a planning module in still another embodiment of the present invention;

FIG. 13 is a schematic structural diagram of a first acquiring module according to an embodiment of the present invention; FIG.

14 is a schematic structural diagram of a mobile unit in an embodiment of the present invention.

The implementation, functional features, and advantages of the present invention will be further described with reference to the accompanying drawings.

BEST MODE FOR CARRYING OUT THE INVENTION

The specific embodiments described herein are intended to be illustrative only and not to limit the invention.

[0088] Referring to FIG. 1, a method for automatically wiping the ground according to an embodiment of the present invention includes:

[0089] 81: Receive map information sent by the cleaning robot.

[0090] The wiping robot of the present embodiment only uses the IMU+ odometer scheme, and does not configure a SLAM mapping sensor such as a vision and a laser, and the wiping robot is established by a cleaning robot equipped with a visual, laser, etc. 31^^ ^/ [image building sensor] A communication channel for two-way interaction to obtain information such as map data for planning a wiping route. The map information in this step includes a map suitable for conversion to the wiping robot and a map applicable to the pre-conversion robot. If the map applied to the pre-conversion robot is converted into a map applicable to the wiping robot, the map is used for wiping the robot. Wipe the route.

[0091] 82: Plan the wiping route according to the above map information.

[0092] In this embodiment, the wiping robot that is not equipped with a sensor such as a vision or a laser is low in manufacturing cost, and the rubbing route is planned by the map information, thereby achieving the rubbing effect of the high-end wiping robot.

[0093] 83: Wiping the ground according to the above-mentioned wiping route.

[0094] The wiping work of the wiping robot of the embodiment and the sweeping work of the sweeping robot can be performed separately and independently, and the wiping and sweeping can be performed in different regions at the same time, and the wiping of the robot is not required to be performed after the sweeping of the sweeping robot is completed. Cleanliness efficiency.

[0095] Further, in an embodiment of the present invention, before the step, the method includes:

[0096] 84: Establish a communication connection with the above-mentioned cleaning robot.

[0097] The communication connection of the embodiment is established by the sweeping robot, the \VIFI module of the wiping robot, the Bluetooth module, and the II module. \¥0 2019/104663 卩(:17 \2017/114009

[0098] Referring to FIG. 2, in an embodiment of the present invention, step 34 includes:

[0099] 841: Determine whether there is a matching the above-mentioned cleaning robot.

[0100] In the present embodiment, the determination is made by detecting the eight-dimensional address of the cleaning robot, and if the matching address of the cleaning robot is detected, it is determined that there is a cleaning robot that matches the above-described wiping robot. Eight in this step? The address is wireless? It can be configured by the sweeping robot and the wiping robot.

[0101] 842: If yes, send a communication connection request to the cleaning robot.

[0102] 843: Receive a connection instruction of the above-mentioned cleaning robot feedback.

[0103] In this embodiment, after the wiping robot passes the access permission of the cleaning robot, the matching connection can be established.

[0104] 844: Establish a communication connection with the above-mentioned cleaning robot according to the connection instruction.

[0105] Establishing a communication connection by arranging the sweeping robot and the grounding robot's eight addresses in the same network segment

[0106] Referring to FIG. 3, in an embodiment of the present invention, step 31 includes:

[0107] 810: Acquire a coordinate system conversion relationship.

[0108] If the sweeping robot or the wiping robot wants to use the same map, it needs to be in the same coordinate system, that is, the same sweeping robot can pass through the coordinate system.

The map obtained by the mapping sensor. The embodiment

The mapping sensor includes laser radar, monocular, binocular, and the like. The coordinate conversion relationship of the embodiment includes shifting the map by a specified unit amount according to the displacement difference of the origin of the cleaning robot and the wiping robot at the initial work.

[0109] 811: transmitting the coordinate system conversion relationship to the cleaning robot, so that the cleaning robot converts the stored map into the map information according to the coordinate system conversion relationship.

[0110] The map conversion of the embodiment is completed by the sweeping robot, and the reduction of the rubbing robot is performed.

The computing power requirement further reduces the cost of the wiping robot.

[0111] Referring to FIG. 4, in another embodiment of the present invention, step 32 includes:

[0112] 821: Acquire a coordinate system conversion relationship.

[0113] 822: Convert the map information into the adapted first map according to the coordinate system conversion relationship described above.

[0114] The map conversion of the present embodiment is completed by the wiping robot.

[0115] 823: Plan the above-mentioned wiping route according to the above first map.

[0116] Referring to FIG. 5, in another embodiment of the present invention, the map information is map coordinate element information, step 2 \¥0 2019/104663 卩(:17 \2017/114009 Includes:

[0117] 824: Acquire a coordinate system conversion relationship.

[0118] 825: Convert the above-mentioned map coordinate element information into the specified coordinate element according to the above coordinate system conversion relationship

[0119] The map coordinate element information includes the displacement data of the moving point, etc., and the data corresponding to each point in the map captured by the sweeping robot sensor is converted into the corresponding data in the rubbing robot coordinate system by the coordinate system conversion relationship.

[0120] 826: The above specified coordinate elements are counted to form an adapted second map.

[0121] The map conversion of the embodiment is completed by the wiping robot, and only the map coordinate element information acquired by the sweeping robot is received. While the sweeping robot builds the map, the rubbing robot is also constructing a map suitable for itself, and improving the rubbing ground. The efficiency of the map that the robot can recognize is not required to wait until the sweeping robot builds the map and then sends it, so that the rubbing robot can plan the rubbing route according to the map in time, and further improve the collaborative cleaning efficiency of the wiping machine and the sweeping machine.

[0122] 827: Plan the above-mentioned wiping route according to the above second map.

[0123] Referring to FIG. 6, in an embodiment of the present invention, step 310 includes:

[0124] 8101: Receive guidance information of the cleaning robot.

[0125] The guidance information in this step includes moving route direction information and close direction information.

[0126] 8102: Move to a designated position relative to the cleaning robot according to the guiding information to determine a position difference between the cleaning robot and the cleaning robot.

[0127] In the present embodiment, the coordinate system conversion relationship is determined by determining the position difference between the cleaning robot and the wiping robot. The position difference amount in the embodiment of the present invention is determined under the close state of the two bodies of the cleaning robot and the wiping robot, further improving the accuracy of acquiring the coordinate system conversion relationship, and improving the use of the SLAM construction sensor disposed on the sweeping machine by the wiping robot. Establish map matching. The cleaning robot of the other embodiment of the present embodiment is separated from the two bodies of the wiping robot by a specified distance, and the position difference between the two bodies is determined by the laser radar, the monocular or the binocular of the cleaning robot, and the sweeping robot and the wiping robot can also be passed. The intensity of the Bluetooth signal is used to determine the position difference.

[0128] 8103: Acquire the coordinate system conversion relationship according to the position difference amount.

[0129] Referring to FIG. 7, in an embodiment of the present invention, the specified position is in close contact with the cleaning robot. Step S102, including:

[0130] S1020: Monitor signal strength distribution information of the above-mentioned cleaning robot AP (Wireless Access Point) address.

[0131] S1021: Acquire a signal strength increasing direction according to the intensity distribution information.

[0132] S1022: moving in the increasing direction of the signal strength to the area where the cleaning robot is located.

[0133] The moving route direction information of the embodiment refers to the grounding robot gradually receiving the signal strength distribution information of the AP address of the cleaning robot after receiving the “prepare to start working” command sent by the cleaning robot. Move in the direction until you are near the area where the sweeping robot is located.

[0134] S1023: Determine whether an infrared guiding signal emitted by the cleaning robot is received.

[0135] S1024: If yes, the infrared guiding signal is closely matched with the designated portion of the cleaning robot.

[0136] The wiping robot of the present example moves to the area where the cleaning robot is located according to the moving route direction information, receives the infrared guiding signal emitted by the cleaning robot, and then continues to move to the rear of the cleaning robot according to the infrared guiding signal and closely adheres to the cleaning robot. And send a “Ready to Complete” command to the sweeping robot. In other embodiments of the present invention, the abutting portion may be determined according to an infrared guiding signal disposed at different parts of the body of the cleaning robot to determine the portion to be in close contact with. For example, if the infrared guiding signal emitted by the sweeping robot is located directly in front of the fuselage, the rubbing robot and the front of the sweeping robot are directly in close contact with each other, and the tightness is judged by the front striking component.

[0137] Referring to FIG. 8, a mopping robot according to an embodiment of the present invention includes:

[0138] The receiving module 1 is configured to receive map information sent by the cleaning robot.

[0139] The mopping robot of the present embodiment only uses the IMU+ odometer scheme, and does not configure a SLAM mapping sensor such as a vision and a laser, and establishes a communication passage for the two-machine interaction with a sweeping robot equipped with a SLAM mapping sensor such as a vision and a laser. In order to obtain information such as map data for planning a wiping route. The map information of the embodiment includes a map applicable to the mopping robot and a map applicable to the pre-conversion robot, and if the map applied to the pre-conversion robot is converted into a map applicable to the wiping robot, the map is used for wiping the robot. Wipe the route.

[0140] The planning module 2 is configured to plan a wiping route according to the map information.

[0141] In this embodiment, the wiping robot with low manufacturing cost of the sensor such as the vision and the laser is not disposed, and the rubbing route is planned by the map information to achieve the wiping effect of the high-end wiping robot. \¥0 2019/104663 卩(:17 \2017/114009

[0142] The module 3 is configured to perform wiping according to the above-mentioned wiping route.

[0143] The wiping work of the mopping robot of the embodiment and the sweeping work of the sweeping robot can be performed separately and independently, and the wiping and sweeping can be performed in different regions at the same time, and the wiping of the robot is not required to be performed after the sweeping of the sweeping robot is completed. Cleanliness efficiency.

[0144] Further, the mopping robot in an embodiment of the present invention includes:

[0145] The establishing module 4 is configured to establish a communication connection with the above-mentioned cleaning robot.

[0146] Referring to FIG. 9, in an embodiment of the present invention, the establishing module 4 includes:

[0147] The determining sub-module 41 is configured to determine whether there is a matching grounding robot.

[0148] In the present embodiment, the determination is made by detecting the eight-dimensional address of the cleaning robot, and if the matching address of the cleaning robot is detected, it is determined that there is a cleaning robot that matches the above-described wiping robot. Eight in this step? The address is wireless? It can be configured by the sweeping robot and the wiping robot. The first transmitting sub-module 42 is configured to, if yes, send a communication connection request to the cleaning robot.

[0149] The first receiving submodule 43 is configured to receive a connection instruction of the above-mentioned cleaning robot feedback.

[0150] In this embodiment, after the wiping robot passes the access permission of the cleaning robot, the matching connection can be established.

[0151] The establishing submodule 44 is configured to establish a communication connection with the cleaning robot according to the connection instruction.

[0152] Establishing a communication connection by arranging the eight-dimensional address of the cleaning robot and the wiping robot on the same network segment

[0153] Referring to FIG. 10, in an embodiment of the present invention, the receiving module 1 includes:

[0154] The first obtaining submodule 10 is configured to acquire a coordinate system conversion relationship.

[0155] If the sweeping robot or the wiping robot uses the same map, it needs to be in the same coordinate system, that is, the same sweeping robot can pass through the coordinate system.

The map obtained by the mapping sensor. The embodiment

[0156] The second transmission sub-module 11 is configured to send the coordinate system conversion relationship to the cleaning robot, so that the cleaning robot converts the stored map into the map information according to the coordinate system conversion relationship.

[0157] The map conversion of the embodiment is completed by the sweeping robot, and the computing power of the wiping robot is reduced. \¥0 2019/104663 卩 (: 17 \2017/114009 requirements, further reduce the cost of the wiping robot.

[0158] Referring to FIG. 11, in another embodiment of the present invention, the foregoing planning module 2 includes:

[0159] The second obtaining sub-module 21 is configured to acquire a coordinate system conversion relationship;

[0160] The first conversion submodule 22 is configured to convert the map information into the adapted first map according to the coordinate system conversion relationship.

[0161] The map conversion of the present embodiment is completed by the wiping robot.

[0162] The first planning sub-module 23 is configured to plan the wiping route according to the first map.

[0163] Referring to FIG. 12, in another embodiment of the present invention, the map information is map coordinate element information, and the planning module 2 includes:

[0164] The third obtaining submodule 24 is configured to acquire a coordinate system conversion relationship.

[0165] The second conversion sub-module 25 is configured to convert the map coordinate element information into the specified coordinate element according to the coordinate system conversion relationship.

[0166] The map coordinate element information of the embodiment includes the displacement data of the moving point, and the like, and the second conversion sub-module 25 converts the data corresponding to each point in the map captured by the cleaning robot sensor through the coordinate system by the second conversion sub-module 25, Converted to the corresponding data in the rubbing robot coordinate system.

[0167] The statistics sub-module 26 is configured to count the specified coordinate elements to form an adapted second map.

[0168] The map conversion of the embodiment is completed by the wiping robot, and only the map coordinate element information acquired by the sweeping robot is received, and while the sweeping robot builds the map, the rubbing robot is also constructing a map suitable for itself, improving the rubbing ground. The efficiency of the map that the robot can recognize is not required to wait until the sweeping robot builds the map and then sends it, so that the rubbing robot can plan the rubbing route according to the map in time, and further improve the collaborative cleaning efficiency of the wiping machine and the sweeping machine.

[0169] The second planning submodule 27 is configured to plan the wiping route according to the second map.

[0170] Referring to FIG. 13, in an embodiment of the present invention, the first acquiring submodule 10 includes:

[0171] The receiving unit 101 is configured to receive guiding information of the cleaning robot.

[0172] The guidance information of the embodiment includes moving route direction information and close direction information.

[0173] The moving unit 102 is configured to move to a specified position relative to the cleaning robot according to the guiding information to determine a position difference between the cleaning robot and the cleaning robot.

[0174] This embodiment determines the coordinate system conversion relationship by determining the position difference between the sweeping robot and the wiping robot. \¥0 2019/104663 卩(:17 \2017/114009

. The position difference amount in the embodiment of the present invention is determined under the close state of the two bodies of the cleaning robot and the wiping robot, further improving the accuracy of acquiring the coordinate system conversion relationship, and improving the use of the SLAM construction sensor disposed on the sweeping machine by the wiping robot. Establish map matching. The cleaning robot of the other embodiment of the present embodiment is separated from the two bodies of the wiping robot by a specified distance, and the position difference between the two bodies is determined by the laser radar, the monocular or the binocular of the cleaning robot, and the sweeping robot and the wiping robot can also be passed. The intensity of the Bluetooth signal is used to determine the position difference.

[0175] The obtaining unit 103 is configured to acquire the coordinate system conversion relationship according to the position difference amount.

[0176] Referring to FIG. 14, in an embodiment of the present invention, the specified location is in direct contact with the cleaning robot, and the mobile unit 102 includes:

[0177] The monitoring subunit 1020 is configured to monitor signal strength distribution information of the above-mentioned cleaning robot address.

[0178] The obtaining subunit 1021 is configured to obtain a signal strength increasing direction according to the intensity distribution information.

[0179] The moving subunit 1022 is configured to move to the area where the cleaning robot is located along the increasing direction of the signal strength.

[0180] The moving route direction information of the embodiment refers to the grounding robot gradually receiving the signal strength distribution information of the eighth address of the cleaning robot after receiving the “prepare to start work” command sent by the cleaning robot. Move in the direction until you are near the area where the sweeping robot is located.

[0181] The determining subunit 1023 is configured to determine whether an infrared guiding signal emitted by the cleaning robot is received.

[0182] The subunit 1024 is closely attached to the sub-unit 1024, and if so, is in close contact with the designated portion of the cleaning robot according to the infrared guiding signal.

[0183] The wiping robot of the present example moves to the area where the cleaning robot is located according to the moving route direction information, receives the infrared guiding signal emitted by the cleaning robot, and then continues to move to the rear of the cleaning robot according to the infrared guiding signal and closely adheres to the cleaning robot. And send a “Ready to Complete” command to the sweeping robot. In other embodiments of the present invention, the abutting portion may be determined according to an infrared guiding signal disposed at different parts of the body of the cleaning robot to determine the portion to be in close contact with. For example, if the infrared guiding signal emitted by the sweeping robot is located directly in front of the fuselage, the rubbing robot and the front of the sweeping robot are directly in close contact with each other, and the tightness is judged by the front striking component.

[0184] In the embodiment of the invention, the sweeping machine and the wiping machine work together to effectively improve the working efficiency of the robot cleaning.

And through collaborative work, you only need to configure a variety of advanced sensors such as vision on the sweeping robot. \¥0 2019/104663 卩(:17 \2017/114009 laser and other sensors, and the wiper only needs to use the IMU ₊ odometer scheme, the map data used to plan the rubbing route and other information from the sweeping robot through the two-machine interaction Obtaining, thereby wiping the ground according to the information, reducing the manufacturing cost of the wiping robot, and achieving the wiping effect of the high-end wiping robot.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are used directly or indirectly. Other related technical fields are equally included in the scope of patent protection of the present invention.

Claims

\¥0 2019/104663 卩(:17 \2017/114009 Claims

[Claim 1] A method for automatically wiping the ground, comprising:

Receiving map information sent by the sweeping robot;

Planning a wiping route according to the map information;

Wipe the ground according to the rubbing route.

[Claim 2] The method of automatically wiping the ground according to claim 1, wherein the step of receiving the map information sent by the cleaning robot comprises:

Establishing a communication connection with the cleaning robot.

[Claim 3] The method of automatically wiping the ground according to claim 2, wherein the step of establishing a communication connection with the cleaning robot comprises:

Determining whether there is a matching cleaning robot;

If so, a communication connection request is sent to the cleaning robot.

Receiving a connection instruction of the sweeping robot feedback;

Establishing a communication connection with the cleaning robot according to the connection instruction.

[Claim 4] The method of automatically wiping the ground according to claim 1, wherein the step of receiving the map information sent by the cleaning robot comprises:

Obtain a coordinate system conversion relationship;

The coordinate system conversion relationship is transmitted to the cleaning robot, so that the cleaning robot converts the stored map into the map information according to the coordinate system conversion relationship.

[Claim 5] The method of automatically wiping the ground according to the map information, wherein the step of planning a wiping route according to the map information comprises:

Obtain a coordinate system conversion relationship;

Converting the map information into an adapted first map according to the coordinate system conversion relationship; planning the wiping route according to the first map.

[Claim 6] The method of automatically wiping the ground according to claim 1, wherein the map information is map coordinate element information, and the step of planning a wiping route according to the map information comprises:

Obtain a coordinate system conversion relationship; \¥0 2019/104663 卩(:17 \2017/114009 Convert the map coordinate element information into the specified coordinate element according to the coordinate system conversion relationship

The specified coordinate elements are counted to form an adapted second map; the wiped route is planned according to the second map.

[Claim 7] The method of automatically erasing a ground according to any one of the preceding claims, wherein the step of acquiring a coordinate system conversion relationship comprises:

Receiving guidance information of the cleaning robot;

And moving to a designated position relative to the cleaning robot according to the guiding information to determine a position difference between the cleaning robot and the cleaning robot;

The coordinate system conversion relationship is acquired according to the position difference amount.

[Claim 8] The method of automatically wiping the ground according to claim 7, wherein the specified position is in close contact with the cleaning robot, and the moving according to the guiding information is relative to the The steps of the specified position of the sweeping robot include:

Monitoring signal strength distribution information of the cleaning robot address; obtaining a signal strength increasing direction according to the intensity distribution information; moving to the area where the cleaning robot is located along the increasing direction of the signal strength; determining whether the infrared emitted by the cleaning robot is received a guiding signal; if yes, according to the infrared guiding signal and the specified portion of the cleaning robot is in close contact

[Claim 9] A wiping robot, comprising:

a receiving module, configured to receive map information sent by the cleaning robot; a planning module, configured to plan a wiping route according to the map information; and perform a module, configured to wipe the ground according to the wiping route.

[Claim 10] The wiping robot according to claim 9, comprising:

A module is established for establishing a communication connection with the cleaning robot.

[Claim 11] The wiping robot according to claim 10, wherein the establishing module comprises:

a judging sub-module, configured to determine whether there is a matching mopping robot; \¥0 2019/104663 卩(:17 \2017/114009 The first sending sub-module, if yes, sends a communication connection request to the sweeping robot to request a first receiving sub-module for receiving the feedback of the sweeping robot feedback a subroutine for establishing a communication connection with the cleaning robot according to the connection instruction

[Claim 12] The wiping robot according to claim 9, wherein the receiving module comprises:

a first obtaining submodule, configured to acquire a coordinate system conversion relationship;

And a second sending submodule, configured to send the coordinate system conversion relationship to the cleaning robot, so that the cleaning robot converts the stored map into the map information according to the coordinate system conversion relationship.

[Claim 13] The mopping robot according to claim 9, wherein the planning module includes:

a second obtaining submodule, configured to acquire a coordinate system conversion relationship;

a first conversion submodule, configured to convert the map information into an adapted first map according to the coordinate system conversion relationship;

a first planning submodule, configured to plan the wiping route according to the first map.

[Claim 14] The wiping robot according to claim 9, wherein the map information is map coordinate element information, and the planning module includes:

a third obtaining submodule, configured to acquire a coordinate system conversion relationship;

a second conversion submodule, configured to convert the map coordinate element information into a specified coordinate element according to the coordinate system conversion relationship;

a statistic sub-module, configured to calculate the specified coordinate element to form an adapted second map; and a second planning sub-module, configured to plan the wiping route according to the second map.

[Claim 15] The wiping robot according to any one of claims 12 to 12, wherein the first acquiring sub-module comprises:

a receiving unit, configured to receive guiding information of the cleaning robot; and a moving unit, configured to move to a finger relative to the cleaning robot according to the guiding information \¥0 2019/104663 卩(:17 \2017/114009 position, in order to determine the position difference between the sweeping robot and the wiping robot;

And an acquiring unit, configured to acquire the coordinate system conversion relationship according to the position difference.

[Claim 16] The wiping robot according to claim 15, wherein the designated position is in close contact with the cleaning robot, and the moving unit comprises: a monitoring subunit for monitoring a signal strength distribution information acquisition subunit of the address sweeping robot?, configured to obtain a signal strength increasing direction according to the intensity distribution information; and a moving subunit, configured to move to the area where the sweeping robot is located along the increasing direction of the signal strength;

The determining subunit is configured to determine whether the infrared guiding signal emitted by the cleaning robot is received; and the subunit is closely attached, and if yes, the infrared guiding signal is closely matched with the designated part of the cleaning robot according to the infrared guiding signal.