Housework is a big problem we face daily. Although it will not waste too much time, but every day needs to complete the work of sweeping the floor, but it also makes people who work for a day have some headaches. The emergence of sweeping robots effectively solved this problem. Once, sweeping robots can only rely on "instinct" to walk casually on the floor of their homes to expand the area of ​​coverage so as to achieve the purpose of sweeping the ground in the home. However, sweeping robots on the market today mostly use some positioning technology to allow sweeping robots to “understand†where they are and where they should go. Under these technologies, sweeping robots are no longer just cluttered, but complete ground coverage in the shortest possible time and path. How exactly are these technologies done? Today, Xiao Bian took everyone to know the positioning technology used by sweeping robots.
Compared with the positioning method in the field, the working environment of the sweeping robot determines that it needs to be more accurate in its perception of the environment. From the positioning method, it can be divided into two kinds: relative positioning and absolute positioning. Relative positioning can achieve positioning in a short time, high precision, and good stability, but with the increase of time and distance, the cumulative error will eventually exceed the maximum error range allowed by the positioning, affecting the positioning accuracy. Absolute positioning Due to the different positioning methods, the measured positions have mutually independent characteristics in time and space, and they will not fail to be positioned due to prolonged use. However, such positioning methods are easily affected by factors including noise, environment, and signals. Large disturbances may form in a short period of time.
Sweeping Robot Relative Positioning Technology
The code disk method is the least costly method in the relative positioning method. Its positioning principle is to use the photoelectric encoder mounted on the wheel to calculate the number of wheels that have been turned, and calculate the position of the robot through the displacement. However, such a calculation method has a large error.
In relative positioning, dead reckoning algorithm is a classical positioning method, and it is also the most widely used method. This method obtains the motion information through sensors arranged on the sweeping robot, and estimates the relative position of the sweeping robot by recursing the accumulated working hours. For example, a code wheel, a gyroscope, etc. installed on a sweeping robot.
The angular acceleration and linear acceleration parameters of the robot are obtained using an inertial sensor and a gyroscope, and the position of the robot is obtained by mathematical integral. This positioning method is superior to the encoder method in terms of positioning accuracy, but due to errors in the measurement of each parameter, the error will continue to increase under long-term accumulation, so its positioning accuracy will decrease with time and distance.
Sweep robot absolute positioning technology
Absolute positioning mainly refers to the robot's use of external reference objects for comparison, by comparing the distance between the reference and the reference position to estimate the location of the method. This includes beacon-based positioning, vision-based positioning and environment map model matching positioning.
The method of positioning based on beacons was originally applied in the fields of navigation and aviation, and positioning was achieved through radio waves given by radio base stations. In the room, what the sweeping robot needs to do is to use the position of the known beacon to calculate the relative distance between the sweeping robot and the beacon. After this distance is fixed and the known beacon position is taken, a sweeping robot is obtained. The absolute location. The use of beacon positioning requires three conditions at the same time, namely, the beacon is fixed and the absolute coordinates are known. The beacon has both active and passive features and is easy to identify. The position of the beacon can be detected from more aspects in the room. For this type of positioning system, the beacon must be scanned by known beacons and sensors installed on the robot, which also requires a series of sensor technologies. The beacon-based positioning method can complete real-time measurement without error accumulation, but this method has high cost and maintenance costs.
The environmental map model matching positioning is to use the sensor equipped with the sweeping robot to scan and detect the surrounding environment and draw a map with details. After matching with the map stored in the machine, the current position can be known through the similarities and differences. However, this method also has its limitations. Because the scanning accuracy is still unable to meet the scanning of complex scenes, in these scenarios, the cleaning robot is often not accurate enough, so it is only suitable for places where the environmental structure is simple.
At present, many sweeping robots not only carry various types of sensors, they even use cameras. This type of method is similar to human-based “visual†positioning, which is based on visual positioning. Vision-based positioning is divided into monocular vision and binocular vision. The difference lies in the number of cameras used. Monocular vision has only one camera and cannot observe accurate 3D images, so its scope of application is limited. Binocular vision observes the environment through two cameras located on the left and right sides. Using the principle of parallax, the cameras on the left and right sides only need to correspond to the same point, and the position information in the three-dimensional environment can be calculated. Due to the accumulation of technologies and experience in robot recognition patterns in recent years, robots based on visual positioning have become a hot topic for manufacturers.
In today's world, intelligence has become an important trend in the development of home appliances. Many smart home appliances make people's lives easier. Among them, sweeping robots have attracted the attention of many consumers with their unique functionality. Although more and more popular, some consumers still believe that sweeping robots spend a lot of time every day to chase and clean up, which is actually not practical. The continuously improving positioning system actually represents the “intelligence level†of sweeping robots. Under the blessings of these technologies, the sweeping robots in the future may become necessary appliances like ice wash and into our family life.
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