CN114727740A - 一种自移动机器人的控制方法、系统及自移动机器人 - Google Patents

一种自移动机器人的控制方法、系统及自移动机器人 Download PDF

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Publication number
CN114727740A
CN114727740A CN202180005420.7A CN202180005420A CN114727740A CN 114727740 A CN114727740 A CN 114727740A CN 202180005420 A CN202180005420 A CN 202180005420A CN 114727740 A CN114727740 A CN 114727740A
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self
line
moving robot
cleaning
radius
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CN114727740B (zh
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姜家鑫
单俊杰
许开立
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Ecovacs Robotics Suzhou Co Ltd
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Ecovacs Robotics Suzhou Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means

Abstract

一种自移动机器人的控制方法、系统及自移动机器人，其中，方法包括：当自移动机器人在当前区域中清扫时，识别清扫路径中出现的线类物体的信息，其中，信息至少包含线类物体的位姿信息、线类物体的长度、线类物体的横截面半径中的一种(S1)；从预设的控制策略中确定与识别出的信息相匹配的目标控制策略，并使得自移动机器人执行目标控制策略(S2)。能够有效地避免自移动机器人被线类物体缠绕。

Description

PCT国内申请，说明书已公开。

Claims (19)

  1. PCT国内申请，权利要求书已公开。
CN202180005420.7A 2020-05-18 2021-04-12 一种自移动机器人的控制方法、系统及自移动机器人 Active CN114727740B (zh)

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CN2020104213341 2020-05-18
CN202010421334.1A CN111714034B (zh) 2020-05-18 2020-05-18 一种自移动机器人的控制方法、系统及自移动机器人
PCT/CN2021/086582 WO2021233007A1 (zh) 2020-05-18 2021-04-12 一种自移动机器人的控制方法、系统及自移动机器人

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CN111714034B (zh) * 2020-05-18 2022-10-21 科沃斯机器人股份有限公司 一种自移动机器人的控制方法、系统及自移动机器人

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CN107378953A (zh) * 2017-09-20 2017-11-24 深圳市杉川机器人有限公司 清扫控制方法、装置、清扫机器人及可读存储介质
CN108170137A (zh) * 2017-12-15 2018-06-15 珊口（上海）智能科技有限公司 移动机器人及其控制方法和控制系统
CN108415420A (zh) * 2018-01-25 2018-08-17 上海思岚科技有限公司 一种用于移动机器人搜索路径的方法及设备
KR20190101326A (ko) * 2019-08-12 2019-08-30 엘지전자 주식회사 이동공간 분할 방법 및 분할된 이동공간을 이동하는 이동로봇
CN110794831A (zh) * 2019-10-16 2020-02-14 深圳乐动机器人有限公司 一种控制机器人工作的方法及机器人

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JP3879848B2 (ja) * 2003-03-14 2007-02-14 松下電工株式会社 自律移動装置
KR102601463B1 (ko) * 2016-10-28 2023-11-14 삼성전자주식회사 로봇 청소기 및 그 구동 방법
KR20180075176A (ko) * 2016-12-26 2018-07-04 엘지전자 주식회사 이동 로봇 및 그 제어방법
KR20180087798A (ko) * 2017-01-25 2018-08-02 엘지전자 주식회사 이동 로봇 및 그 제어방법
CN113961005A (zh) * 2018-10-22 2022-01-21 科沃斯机器人股份有限公司 行进控制的方法、表面清洁机器人及存储介质
CN110051292B (zh) * 2019-05-29 2021-11-02 尚科宁家(中国)科技有限公司 一种扫地机器人控制方法
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CN111714034B (zh) * 2020-05-18 2022-10-21 科沃斯机器人股份有限公司 一种自移动机器人的控制方法、系统及自移动机器人

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107378953A (zh) * 2017-09-20 2017-11-24 深圳市杉川机器人有限公司 清扫控制方法、装置、清扫机器人及可读存储介质
CN108170137A (zh) * 2017-12-15 2018-06-15 珊口（上海）智能科技有限公司 移动机器人及其控制方法和控制系统
CN108415420A (zh) * 2018-01-25 2018-08-17 上海思岚科技有限公司 一种用于移动机器人搜索路径的方法及设备
KR20190101326A (ko) * 2019-08-12 2019-08-30 엘지전자 주식회사 이동공간 분할 방법 및 분할된 이동공간을 이동하는 이동로봇
CN110794831A (zh) * 2019-10-16 2020-02-14 深圳乐动机器人有限公司 一种控制机器人工作的方法及机器人

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US20230185306A1 (en) 2023-06-15
WO2021233007A1 (zh) 2021-11-25
CN114727740B (zh) 2024-03-01
CN111714034B (zh) 2022-10-21
CN111714034A (zh) 2020-09-29

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