CN114609649A - Robot positioning and navigation method based on reinforcement learning laser radar data - Google Patents
Robot positioning and navigation method based on reinforcement learning laser radar data Download PDFInfo
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- CN114609649A CN114609649A CN202210269409.8A CN202210269409A CN114609649A CN 114609649 A CN114609649 A CN 114609649A CN 202210269409 A CN202210269409 A CN 202210269409A CN 114609649 A CN114609649 A CN 114609649A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000002787 reinforcement Effects 0.000 title claims abstract description 16
- 230000009467 reduction Effects 0.000 claims abstract description 4
- 238000004140 cleaning Methods 0.000 claims description 57
- 229920000742 Cotton Polymers 0.000 claims description 17
- 239000000428 dust Substances 0.000 claims description 16
- 230000003139 buffering effect Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 14
- 238000003825 pressing Methods 0.000 description 10
- 238000007664 blowing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000008054 signal transmission Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 230000003116 impacting effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- B08B1/10—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
Abstract
The invention belongs to the field of robots, in particular to a robot positioning navigation method based on reinforcement learning laser radar data, wherein pavement information is acquired through a laser radar body on a robot body, and when the information is acquired, a noise reduction module in the robot body can filter noise data, so that effective data is obtained; the collected effective data are transmitted into a map structure modeling block in the robot body, so that the effective data are merged into the map structure modeling block, and the map structure module is updated in real time; after the effective data are blended, a plurality of paths are screened through a navigation module in the robot body, then the optimal path is given, the robot body is instructed to start, and the rest paths are the most alternative paths, so that roadblocks are avoided.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot positioning and navigation method based on reinforcement learning laser radar data.
Background
A robot is an intelligent machine that can work semi-autonomously or fully autonomously.
The existing robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves work efficiency and quality, serves human life, and expands or extends the range of activity and capability of the human beings, and the navigation robot also belongs to one of the robots.
After the navigation robot works outdoors, dirt such as dust can adhere to a radar on the navigation robot, the traditional navigation robot does not have a quick cleaning device, and the dirt such as dust can cause the navigation robot to be incapable of receiving correct information sent back by the radar, so that the normal work of the navigation robot is influenced; therefore, a robot positioning and navigation method based on reinforcement learning laser radar data is provided for solving the above problems.
Disclosure of Invention
In order to make up for the defects of the prior art and solve the problems that dirt such as dust is adhered to a radar on a navigation robot after the navigation robot works outdoors, a traditional navigation robot does not have a quick cleaning device, and the dirt such as dust can cause the navigation robot to be incapable of receiving correct information sent back by the radar and influence the normal work of the navigation robot, the invention provides a robot positioning and navigation method based on reinforced learning laser radar data.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a robot positioning and navigation method based on reinforcement learning laser radar data, which comprises the following process steps:
s1, collecting road surface information through a laser radar body on the robot body, wherein when the information is collected, a noise reduction module in the robot body can filter noise data so as to obtain effective data;
s2, transmitting the collected effective data to a map structure modeling block in the robot body, so that the effective data are merged into the map structure modeling block, thereby realizing real-time map construction module updating;
and S3, after the effective data are blended, screening a plurality of paths through a navigation module in the robot body, giving an optimal path and directing the robot body to start, wherein the rest paths are the most alternative paths, so that roadblocks are avoided.
Preferably, a laser radar body is arranged on one side of the robot body, two guide rails are fixedly mounted on one side, close to the laser radar body, of the robot body, sliding blocks are connected to the surfaces of the two guide rails in a sliding mode, a connecting plate is fixedly mounted on one side, close to the two sliding blocks, of the robot body, an electric telescopic rod is fixedly connected to one side of the robot body, the output end of the electric telescopic rod is fixedly connected with the connecting plate, a containing frame is fixedly mounted at one end, far away from the electric telescopic rod, of the connecting plate, and a cleaning sponge is arranged on one side of the containing frame; the during operation, when the laser radar body on the robot needs to be cleaned, through starting the electric telescopic handle of robot body one side, make electric telescopic handle's output take the sliding block on the guide rail to slide through the connecting plate, the connecting plate also can take and accomodate frame and clean sponge and slide to laser radar body direction this moment, clean sponge this moment is extruded, the state of compression, when clean sponge reachs laser radar body department, one side of clean sponge is no longer compressed, clean sponge keeps away from the one side of accomodating the frame and laminates each other with laser radar body surface this moment, make clean sponge clean laser radar body surface cleaning, thereby play the effect of clean laser radar body, prevent dust behind the laser radar body surface, influence the signal transmission and the collection of laser radar body.
Preferably, one side of the containing frame is provided with a containing groove, the inner wall of the containing groove is fixedly provided with a magic tape surface, and one side of the cleaning sponge is fixedly provided with a magic tape female surface; the during operation, need clean after long-time use when cleaning sponge, take off cleaning sponge from accomodating the inslot this moment to put into new cleaning sponge and accomodate the inslot, let the magic of cleaning sponge one side paste female face and accomodate the magic of inslot and paste sub-face reciprocal anchorage, and then take cleaning sponge fixed, realize the effect of quick replacement cleaning sponge, conveniently change dirty cleaning sponge.
Preferably, an electric push rod is fixedly installed on one side of the robot body, a pressing plate is fixedly installed at the output end of the electric push rod, an air cavity is fixedly installed inside the robot body, an air guide pipe is fixedly installed on one side of the air cavity, and an air nozzle is arranged on one side of the air guide pipe; the during operation, after having cleaned the laser radar body when clean sponge, start the electric push rod of robot one side, let the output area of electric push rod take the clamp plate to move to robot inside for clamp plate extrusion air cavity, air cavity are extruded the back, and gas gets into in the air duct and blows out through the air cock, makes the gas that the air cock blew out blow off laser radar body remaining water of clean sponge on the surface and foul, thereby plays further cleaning effect.
Preferably, one side of the air duct is rotatably connected with a rotating ball, and the surface of the rotating ball is fixedly connected with an air tap; during operation, when the blowing angle of the air nozzle needs to be adjusted, the air nozzle is rotated through the rotating ball, and then blowing at different angles is achieved.
Preferably, a pressing rod is fixedly installed on one side, away from the electric push rod, of the pressing plate, and sleeve cotton is fixedly installed at one end of the pressing rod; the during operation, the clamp plate can take the depression bar to remove together when removing, and depression bar and absorbent cotton extrude the air cavity together, and the depression bar can be concentrated and extrude for the air cavity is easier and quick extrudees gas, and the cover cotton on the depression bar plays the effect of protection air cavity, prevents that the condition of depression bar crush air cavity from taking place.
Preferably, one end of the guide rail is fixedly provided with a baffle, and one side of the baffle is fixedly provided with buffer cotton; during operation, when electric telescopic handle takes connecting plate and sliding block to reset, the baffle of guide rail one end blocks the sliding block to prevent that the sliding block from excessively sliding, and the buffering cotton on the baffle plays the effect of buffering and protection sliding block, prevent the direct striking of sliding block and baffle, thereby produce the damage.
Preferably, a dust screen is fixedly installed at one end of the air tap; when the dust-proof device works, the dust-proof net at one end of the air nozzle plays a role in reducing dust entering the air nozzle.
The invention has the advantages that:
1. when the laser radar body on the robot body needs to be cleaned, the electric telescopic rod on one side of the robot body is started, the output end of the electric telescopic rod drives the sliding block on the guide rail to slide through the connecting plate, the containing frame and the cleaning sponge can also be driven by the connecting plate to slide towards the laser radar body, the cleaning sponge is extruded and in a compressed state, when the cleaning sponge reaches the laser radar body, one side of the cleaning sponge is not compressed any more, and one surface of the cleaning sponge, far away from the containing frame, is attached to the surface of the laser radar body, so that the cleaning sponge cleans the surface of the laser radar body completely, the laser radar body is cleaned, dust on the surface of the laser radar body is prevented from affecting signal transmission and collection of the laser radar body.
2. After the laser radar body is wiped by the cleaning sponge, the electric push rod on one side of the robot is started, the output end of the electric push rod drives the pressing plate to move towards the interior of the robot, so that the pressing plate extrudes the air cavity, after the air cavity is extruded, air enters the air guide pipe and is blown out through the air nozzle, and the air blown out by the air nozzle blows off water and dirt remained on the cleaning sponge on the surface of the laser radar body, so that a further cleaning effect is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic flow structure diagram of a robot positioning and navigation method based on reinforcement learning lidar data according to an embodiment;
FIG. 2 is a schematic structural diagram of a robot body according to a first embodiment;
FIG. 3 is a schematic view of a guide rail according to an embodiment;
figure 4 is a schematic view of the female surface of the hook and loop fastener in the first embodiment;
FIG. 5 is a schematic diagram of a structure shown in FIG. 2 according to a first embodiment;
FIG. 6 is a schematic cross-sectional view of a robot body according to an embodiment;
FIG. 7 is a schematic structural diagram of a nozzle according to an embodiment;
FIG. 8 is a schematic structural diagram of an electric putter in accordance with an embodiment;
fig. 9 is a schematic structural diagram of a warning strip in the second embodiment.
In the figure: 1. a robot body; 2. a laser radar body; 301. a guide rail; 302. a slider; 303. a connecting plate; 304. an electric telescopic rod; 305. a storage frame; 306. cleaning the sponge; 307. a receiving groove; 308. a magic tape surface; 309. magic tape mother surface; 310. a baffle plate; 311. buffering cotton; 41. an electric push rod; 42. pressing a plate; 43. an air cavity; 44. an air duct; 45. an air tap; 46. rotating the ball; 47. a dust screen; 51. a pressure lever; 52. cotton sleeving; 6. and (4) an alarm strip.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1-8, a robot positioning and navigation method based on reinforcement learning lidar data includes the following steps:
s1, collecting road surface information through the laser radar body 2 on the robot body 1, wherein when the information is collected, a noise reduction module in the robot body 1 filters noise data to obtain effective data;
s2, transmitting the collected effective data into a map structure modeling block in the robot body 1, so that the effective data are merged into the map structure modeling block, thereby realizing real-time map construction module updating;
and S3, after the effective data are fused, screening a plurality of paths through a navigation module in the robot body 1, giving an optimal path and instructing the robot body 1 to start, wherein the rest paths are the most alternative paths, so that roadblocks are avoided.
The robot comprises a robot body 1, a laser radar body 2, a connecting plate 303, an electric telescopic rod 304, a cleaning sponge 306 and a cleaning sponge, wherein the laser radar body 2 is arranged on one side of the robot body 1, the two guide rails 301 are fixedly arranged on one side, close to the laser radar body 2, of the robot body 1, the sliding blocks 302 are connected to the surfaces of the two guide rails 301 in a sliding mode, the connecting plate 303 is fixedly arranged on one side, close to the two sliding blocks 302, of the robot body 1, the output end of the electric telescopic rod 304 is fixedly connected with the connecting plate 303, a containing frame 305 is fixedly arranged at one end, far away from the electric telescopic rod 304, of the connecting plate 303; when the robot works, when the laser radar body 2 on the robot body 1 needs to be cleaned, by starting the electric telescopic rod 304 at one side of the robot body 1, so that the output end of the electric telescopic rod 304 is driven by the connecting plate 303 to slide with the sliding block 302 on the guide rail 301, at this time, the connecting plate 303 is also driven by the containing frame 305 and the cleaning sponge 306 to slide towards the laser radar body 2, at this time, the cleaning sponge 306 is extruded and compressed, when the cleaning sponge 306 reaches the laser radar body 2, one side of the cleaning sponge 306 is not compressed any more, and at this time, one surface of the cleaning sponge 306 far away from the storage frame 305 and the surface of the laser radar body 2 are attached to each other, so that the cleaning sponge 306 wipes the surface of the laser radar body 2 clean, thereby play clean laser radar body 2's effect, prevent 2 surperficial back dusts of laser radar body, influence laser radar body 2's signal transmission and collection.
A receiving groove 307 is formed in one side of the receiving frame 305, a hook and loop fastener surface 308 is fixedly installed on the inner wall of the receiving groove 307, and a hook and loop fastener female surface 309 is fixedly installed on one side of the cleaning sponge 306; the during operation, need clean after long-time use when cleaning sponge 306, take off cleaning sponge 306 from accomodating groove 307 this moment to put into accomodating groove 307 new cleaning sponge 306, let the magic of cleaning sponge 306 one side paste female face 309 and accomodate the magic of groove 307 and paste sub-face 308 reciprocal anchorage, and then take cleaning sponge 306 fixed, realize quick replacement cleaning sponge 306's effect, conveniently change dirty cleaning sponge 306.
An electric push rod 41 is fixedly installed on one side of the robot body 1, a pressure plate 42 is fixedly installed at the output end of the electric push rod 41, an air cavity 43 is fixedly installed inside the robot body 1, an air guide tube 44 is fixedly installed on one side of the air cavity 43, and an air nozzle 45 is arranged on one side of the air guide tube 44; during operation, after laser radar body 2 has been cleaned to clean sponge 306, start the electric push rod 41 of robot one side, let the output area of electric push rod 41 take clamp plate 42 to move to robot inside, make clamp plate 42 extrusion air cavity 43, air cavity 43 is by the extrusion back, gas gets into in the air duct 44 and blows out through air cock 45, make the gas that air cock 45 blew out blow off remaining water and the foul of sponge 306 on laser radar body 2 surface, thereby play further cleaning.
One side of the air duct 44 is rotatably connected with a rotating ball 46, and the surface of the rotating ball 46 is fixedly connected with an air nozzle 45; during operation, when the blowing angle of the air nozzle 45 needs to be adjusted, the air nozzle 45 is rotated by rotating the air nozzle 45, so that the air nozzle 45 is rotated by the rotating ball 46, and blowing at different angles is realized.
A pressing rod 51 is fixedly installed on one side of the pressing plate 42 away from the electric push rod 41, and one end of the pressing rod 51 is fixedly installed with a cotton sleeve 52; the during operation, clamp plate 42 can take depression bar 51 to remove together when removing, and depression bar 51 extrudees the air cavity 43 with the absorbent cotton together, and depression bar 51 can concentrate and extrude for air cavity 43 extrudes gas more easily and fast, and cover cotton 52 on the depression bar 51 plays the effect of protection air cavity 43, prevents that the condition of depression bar 51 crushing air cavity 43 from taking place.
One end of the guide rail 301 is fixedly provided with a baffle 310, and one side of the baffle 310 is fixedly provided with buffer cotton 311; in operation, when the electric telescopic rod 304 drives the connecting plate 303 and the sliding block 302 to reset, the baffle 310 at one end of the guide rail 301 blocks the sliding block 302, so as to prevent the sliding block 302 from sliding excessively, and the buffer cotton 311 on the baffle 310 plays a role in buffering and protecting the sliding block 302, so as to prevent the sliding block 302 and the baffle 310 from directly impacting, thereby causing damage.
A dust screen 47 is fixedly arranged at one end of the air tap 45; in operation, the dust screen 47 at one end of the air nozzle 45 plays a role in reducing dust entering the air nozzle 45.
Example two
Referring to fig. 9, in a first comparative example, as another embodiment of the present invention, warning bars 6 are fixedly installed on two sides of the robot body 1; the during operation navigates the during operation when robot body 1 night, will warn strip 6 and fix in robot body 1's both sides, and when the light struck robot body 1, the warning strip 6 of robot body 1 both sides played the effect of reflection of light warning to remind other people to notice, prevent to hit the condition emergence of robot body 1.
Working principle, when the laser radar body 2 on the robot body 1 needs to be cleaned, the electric telescopic rod 304 on one side of the robot body 1 is started, so that the output end of the electric telescopic rod 304 drives the sliding block 302 on the guide rail 301 to slide through the connecting plate 303, at the moment, the connecting plate 303 also drives the containing frame 305 and the cleaning sponge 306 to slide towards the laser radar body 2, at the moment, the cleaning sponge 306 is squeezed and compressed, when the cleaning sponge 306 reaches the laser radar body 2, one side of the cleaning sponge 306 is not compressed, at the moment, one surface of the cleaning sponge 306 far away from the containing frame 305 and the surface of the laser radar body 2 are mutually attached, so that the cleaning sponge 306 wipes the surface of the laser radar body 2 cleanly, the function of cleaning the laser radar body 2 is achieved, dust on the back surface of the laser radar body 2 is prevented, and signal transmission and collection of the laser radar body 2 are influenced, when the cleaning sponge 306 needs to be cleaned after being used for a long time, the cleaning sponge 306 is taken down from the storage groove 307, a new cleaning sponge 306 is put into the storage groove 307, the female magic tape surface 309 at one side of the cleaning sponge 306 and the male magic tape surface 308 in the storage groove 307 are mutually fixed, the cleaning sponge 306 is further taken to be fixed, the effect of quickly replacing the cleaning sponge 306 is realized, the dirty cleaning sponge 306 is convenient to replace, when the electric telescopic rod 304 takes the connecting plate 303 and the sliding block 302 to reset, the baffle 310 at one end of the guide rail 301 blocks the sliding block 302, so that the sliding block 302 is prevented from excessively sliding, the buffer cotton 311 on the baffle 310 plays the roles of buffering and protecting the sliding block 302, the sliding block 302 and the baffle 310 are prevented from directly impacting, so that the sliding block is damaged, after the cleaning sponge 306 wipes the laser radar body 2, the electric push rod 41 at one side of the robot is started, let the output of electric putter 41 take clamp plate 42 to move to robot inside, make clamp plate 42 extrude air cavity 43, clamp plate 42 can take depression bar 51 to move together when moving, depression bar 51 and absorbent cotton extrude air cavity 43 together, depression bar 51 can concentrate and extrude, make air cavity 43 extrude gas more easily and fast, and cover cotton 52 on depression bar 51 plays the effect of protection air cavity 43, prevent that the condition of depression bar 51 crushing air cavity 43 from taking place, air cavity 43 is extruded the back, gas gets into in the air duct 44 and blows out through air cock 45, make the gas that air cock 45 blew out blow down with the remaining water and the foul of clean sponge 306 on laser radar body 2 surface, when the angle of blowing of air cock 45 needs to be adjusted, through rotating air cock 45, make air cock 45 rotate through rotating ball 46, and then realize blowing of different angles, and dust screen 47 at one end of air cock 45 plays the effect of reducing the dust and getting into air cock 45, thereby providing further cleaning action.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (8)
1. A robot positioning navigation method based on reinforcement learning laser radar data is characterized in that: the process comprises the following steps:
s1, collecting road surface information through the laser radar body (2) on the robot body (1), wherein when the information is collected, a noise reduction module in the robot body (1) can filter noise data to obtain effective data;
s2, transmitting the collected effective data into a map structure modeling block in the robot body (1) to enable the effective data to be merged into the map structure modeling block, so that the map construction module is updated in real time;
and S3, after the effective data are blended, screening a plurality of paths through a navigation module in the robot body (1), giving an optimal path and commanding the robot body (1) to start, wherein the rest paths are the most alternative paths, so that roadblocks are avoided.
2. The robot positioning and navigation method based on reinforcement learning lidar data of claim 1, wherein: one side of robot (1) is equipped with laser radar body (2), one side fixed mounting that robot (1) is close to laser radar body (2) has two guide rails (301), two the sliding surface connection of guide rail (301) has sliding block (302), two one side fixed mounting that sliding block (302) are close to each other has connecting plate (303), one side fixedly connected with electric telescopic handle (304) of robot (1), the output and connecting plate (303) fixed connection of electric telescopic handle (304), the one end fixed mounting that electric telescopic handle (304) were kept away from in connecting plate (303) has accomodate frame (305), the one side of accomodating frame (305) is equipped with cleaning sponge (306).
3. The robot positioning and navigation method based on reinforcement learning lidar data of claim 2, wherein: accomodate one side of frame (305) and seted up and accomodate groove (307), the inner wall fixed mounting who accomodates groove (307) has magic subsides son face (308), one side fixed mounting of clean sponge (306) has female face (309) of magic subsides.
4. The robot positioning and navigation method based on reinforcement learning lidar data of claim 3, wherein: one side fixed mounting of robot body (1) has electric putter (41), the output fixed mounting of electric putter (41) has clamp plate (42), and the inside fixed mounting of robot body (1) has air cavity (43), one side fixed mounting of air cavity (43) has air duct (44), one side of air duct (44) is equipped with air cock (45).
5. The robot positioning and navigation method based on reinforcement learning lidar data of claim 4, wherein: one side of the air duct (44) is rotatably connected with a rotating ball (46), and the surface of the rotating ball (46) is fixedly connected with an air nozzle (45).
6. The robot positioning and navigation method based on reinforcement learning lidar data of claim 5, wherein: one side of the pressure plate (42) far away from the electric push rod (41) is fixedly provided with a pressure rod (51), and one end of the pressure rod (51) is fixedly provided with a cover cotton (52).
7. The robot positioning and navigation method based on reinforcement learning lidar data of claim 6, wherein: one end fixed mounting of guide rail (301) has baffle (310), one side fixed mounting of baffle (310) has buffering cotton (311).
8. The robot positioning and navigation method based on reinforcement learning lidar data of claim 7, wherein: and a dust screen (47) is fixedly arranged at one end of the air tap (45).
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| CN111530823A (en) * | 2020-05-09 | 2020-08-14 | 盟识(上海)科技有限公司 | Laser radar cleaning device and cleaning method |
| CN113238247A (en) * | 2021-03-30 | 2021-08-10 | 陈岳明 | Robot positioning and navigation method, device and equipment based on laser radar |
| CN214133103U (en) * | 2020-12-14 | 2021-09-07 | 山东富锐光学科技有限公司 | Automatic dust collector of laser radar |
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2022
- 2022-03-18 CN CN202210269409.8A patent/CN114609649A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210878090U (en) * | 2019-10-10 | 2020-06-30 | 常熟市展宏精密金属制品有限公司 | Laser nozzle for laser cutting equipment |
| CN210774255U (en) * | 2019-12-21 | 2020-06-16 | 戚培飞 | Corrosion-resistant radar liquid level meter |
| CN111530823A (en) * | 2020-05-09 | 2020-08-14 | 盟识(上海)科技有限公司 | Laser radar cleaning device and cleaning method |
| CN214133103U (en) * | 2020-12-14 | 2021-09-07 | 山东富锐光学科技有限公司 | Automatic dust collector of laser radar |
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