WO2019104732A1 - Robot de nettoyage doté de vision et procédé de détection d'obstacle - Google Patents

Robot de nettoyage doté de vision et procédé de détection d'obstacle Download PDF

Info

Publication number
WO2019104732A1
WO2019104732A1 PCT/CN2017/114323 CN2017114323W WO2019104732A1 WO 2019104732 A1 WO2019104732 A1 WO 2019104732A1 CN 2017114323 W CN2017114323 W CN 2017114323W WO 2019104732 A1 WO2019104732 A1 WO 2019104732A1
Authority
WO
WIPO (PCT)
Prior art keywords
points
spatial
obstacle
feature
feature points
Prior art date
Application number
PCT/CN2017/114323
Other languages
English (en)
Chinese (zh)
Inventor
王声平
张立新
Original Assignee
深圳市沃特沃德股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市沃特沃德股份有限公司 filed Critical 深圳市沃特沃德股份有限公司
Priority to PCT/CN2017/114323 priority Critical patent/WO2019104732A1/fr
Publication of WO2019104732A1 publication Critical patent/WO2019104732A1/fr

Links

Classifications

    • 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

Definitions

  • the present invention relates to the field of visual sweeping robots, and more particularly to a visual sweeping robot and an obstacle detecting method.
  • methods for detecting an obstacle include a method using infrared reflection, a method using ultrasonic detection, a method of physical collision, and the like.
  • the current methods all have corresponding defects.
  • the method of infrared reflection is not sensitive to black obstacles; in the ultrasonic detection method, it is difficult to install ultrasonic waves, and the obstacle distance cannot be measured due to insufficient reflection of the surface of the narrow-shaped obstacle;
  • the method of physical collision has a large jitter of the visual sweeping robot during the collision, which affects the stability of the visual sweeping robot.
  • a primary object of the present invention is to provide a visual cleaning robot and an obstacle detecting method for detecting a coordinate position of an obstacle to assist in predicting an obstacle.
  • the present invention provides an obstacle detection method, which includes the following steps:
  • the present invention also provides a cleaning robot, comprising: ⁇ 0 2019/104732 ⁇ (:17 ⁇ 2017/114323
  • an extracting unit configured to extract a feature point in the image information, where the feature point includes a necessary feature point
  • a building unit configured to construct a spatial three-dimensional coordinate of the feature point to form a spatial feature point
  • a feature unit configured to extract necessary feature points according to the specified condition according to the set of spatial feature points to form a set of spatial obstacle points;
  • a projection unit configured to project the set of spatial obstacle points onto a two-dimensional plane to obtain coordinate points of the spatial obstacle point set on a two-dimensional plane.
  • the visual cleaning robot and the obstacle detecting method provided by the present invention have the following beneficial effects:
  • the visual cleaning robot and the obstacle detecting method provided by the present invention, by acquiring image information; extracting feature points in the image information, the feature points include necessary feature points; constructing a spatial three-dimensional space in which the feature points are located Coordinates to form a set of spatial feature points; according to the set of spatial feature points, extract necessary feature points according to specified conditions to form a set of spatial obstacle points; project the set of spatial obstacle points onto a two-dimensional plane to obtain the The coordinate points of the space obstacle points on the two-dimensional plane; thereby detecting the coordinate position of the obstacle to assist in predicting the obstacle.
  • FIG. 1 is a schematic diagram showing the steps of an obstacle detecting method according to an embodiment of the present invention.
  • step 32 is a schematic diagram showing specific steps of step 32 in an embodiment of the present invention.
  • FIG. 3 is a schematic diagram showing steps of an obstacle detecting method according to another embodiment of the present invention.
  • FIG. 4 is a schematic diagram showing the steps of an obstacle detecting method according to another embodiment of the present invention.
  • step 39 is a schematic diagram showing the specific steps of step 39 in an embodiment of the present invention.
  • step 39 is a schematic diagram showing the specific steps of step 39 in another embodiment of the present invention.
  • step 34 is a schematic diagram showing the specific steps of step 34 in another embodiment of the present invention.
  • FIG. 8 is a block diagram showing the structure of a visual sweeping robot according to an embodiment of the present invention.
  • FIG. 9 is a block diagram showing the structure of an extracting unit in an embodiment of the present invention.
  • FIG. 10 is a block diagram showing the structure of a visual sweeping robot according to another embodiment of the present invention. ⁇ 0 2019/104732 ⁇ (:17 ⁇ 2017/114323
  • FIG. 11 is a block diagram showing the structure of a processing unit in another embodiment of the present invention.
  • FIG. 12 is a block diagram showing the structure of a processing unit in still another embodiment of the present invention.
  • FIG. 13 is a block diagram showing the structure of a processing unit in still another embodiment of the present invention.
  • FIG. 14 is a block diagram showing the structure of a visual sweeping robot according to still another embodiment of the present invention.
  • FIG. 15 is a block diagram showing the structure of a feature unit in an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of steps of an obstacle detection method according to an embodiment of the present invention.
  • An embodiment of the present invention provides an obstacle detection method for a visual sweeping robot, the method comprising the following steps:
  • Step 31 acquiring image information
  • Step 32 Extract feature points in the image information, where the feature points include necessary feature points;
  • Step 33 Construct a spatial three-dimensional coordinate of the feature point to form a spatial feature point set
  • Step 34 Extract, according to the set of spatial feature points, the necessary feature points according to the specified conditions to form a set of spatial obstacle points;
  • Step 35 projecting the set of spatial obstacle points onto a two-dimensional plane to obtain the spatial obstacle point ⁇ 0 2019/104732 ⁇ (:17 ⁇ 2017/114323
  • the image information in the visual range is continuously collected by the built-in camera, and the image information is an image including a ceiling, a ground, and a wall surface.
  • Information; feature points are pixels, which can be pixels with higher brightness or darker colors; or pixels with larger changes.
  • the step of extracting feature points in the image information includes:
  • this step it may be analyzed whether the size of the same direction or the same route pixel point change in the image information in the adjacent two pictures or two frames of video is greater than a preset value, and the preset value may be 3111111, for example, comparing the latter Whether the diameter of the pixel in the picture differs from the diameter of the pixel in the previous picture is greater than 3111111, and if it is greater, step 804 is performed.
  • the obstacle detection method in this embodiment has the advantages of high applicability, high detection accuracy, low cost, and low computational complexity.
  • the step of projecting the set of spatial obstacle points onto a two-dimensional plane to obtain coordinate points of the spatial obstacle point set on a two-dimensional plane is performed. After that, including:
  • Step 36 Mark the coordinate point according to the coordinate point of the spatial obstacle point set on the two-dimensional plane ⁇ 0 2019/104732 ⁇ (:17 ⁇ 2017/114323
  • the coordinate origin of the two-dimensional plane is the same as the origin of the two-dimensional map, and the coordinate point is conveniently marked in the corresponding position of the two-dimensional map.
  • the solution in this embodiment is convenient for the sweeping robot to press the cleaning area.
  • the coordinate point can be controlled to bypass when walking on the map.
  • the map of the cleaning area may be pre-established and stored in the visual sweeping robot, or may be a map created by the visual sweeping robot when cleaning.
  • the step of projecting the set of spatial obstacle points onto a two-dimensional plane to obtain coordinate points of the spatial obstacle point set on a two-dimensional plane is performed. After that, include:
  • Step 37 Acquire current positioning coordinates
  • Step 38 analyzing a positional relationship between the current positioning coordinate and the coordinate point
  • Step 39 Select a corresponding preset manner to perform processing according to the location relationship.
  • the visual sweeping robot After acquiring the coordinate points of the spatial obstacle point set on the two-dimensional plane, the visual sweeping robot acquires the current positioning from time to time, and marks the current positioning on the two-dimensional plane to obtain the current positioning on the two-dimensional plane. Coordinates, the visual sweeping robot can perform processing according to the positional relationship between its current positioning coordinates and the coordinate points of the space obstacle point set, for example, avoid obstacles, and explore all obstacles in the cleaning area.
  • the step 39 of selecting a corresponding preset manner according to the location relationship includes:
  • Step 391 determining whether the location relationship is less than a preset value
  • Step 392 if yes, controlling the deceleration operation.
  • the positional relationship is the distance between the current positioning coordinate and the coordinate point of the spatial obstacle point set on the two-dimensional plane, and the preset value is 0.5 m.
  • the method includes:
  • Step 393 analyzing feature attributes of the set of spatial obstacle points
  • the feature attribute is the size of the length, width, and height of the set of spatial obstacle points.
  • Step 394 Analyze whether the feature attribute is greater than a preset attribute; and the preset attribute is a preset size of a length, a width, and a height.
  • Step 395 if it is greater, controlling to avoid the space obstacle point set.
  • the space obstacle point set may also be marked by the feature attribute in the cleaning area. ⁇ 0 2019/104732 ⁇ (:17 ⁇ 2017/114323
  • the plurality of spatial obstacle points are set, and correspondingly, the position relationship is multiple, and the position relationship is a position distance, according to the Step 39 of processing the preset relationship corresponding to the location relationship, including:
  • Step 3901 Select a shortest position distance from a plurality of the location distances
  • Step 3902 Control a spatial obstacle point set motion corresponding to the shortest position distance.
  • step 3902 the method includes:
  • Step 3903 analyzing whether the shortest position distance is less than a predetermined value
  • Step 3904 if less than, starting the ultrasonic sensor to emit an ultrasonic signal
  • Step 3905 receiving a feedback signal that is fed back when the ultrasonic signal encounters an obstacle
  • Step 3906 analyzing location information and feature attributes of the obstacle according to the feedback signal
  • Step 3907 analyzing whether the feature attribute is greater than a preset attribute
  • Step 3908 if greater than, clear the mark corresponding to the coordinate point of the space obstacle point set on the two-dimensional map, and mark the position information of the obstacle in the corresponding position of the two-dimensional map of the cleaning area;
  • Step 3910 Store a two-dimensional map marked with the location information of the obstacle, so as to avoid the obstacle when designing the cleaning route.
  • the method includes:
  • the cleaning area is divided into regions.
  • the cleaning area may be divided according to the position of the coordinate points of all the spatial obstacle points in the cleaning area.
  • the sub-area after the area division may also be subjected to map coverage.
  • the feature points further include non-essential feature points
  • the step 34 of extracting the necessary feature points according to the specified set of spatial feature points to form a set of spatial obstacle points according to the set of spatial feature points includes:
  • Step 341 analyzing a positional relationship of the feature points in the set of spatial feature points
  • Step 342 distinguishing the non-essential feature points and the necessary feature points according to the positional relationship
  • Step 343 cull the non-essential feature points according to the specified condition
  • Step 344 forming the necessary feature points into a set of spatial obstacle points. ⁇ 0 2019/104732 ⁇ (:17 ⁇ 2017/114323
  • the condition specified in this embodiment is to retain the necessary feature points, since the ceiling or the like cannot be an obstacle to the visual sweeping robot. Therefore, the visual sweeping robot of the present embodiment analyzes the position of the ceiling by using a plane fitting method, and removes all unnecessary feature points of the ceiling and its preset range (such as the distance of 1111) to obtain necessary feature points.
  • the necessary feature points form a set of spatial obstacle points in the three-dimensional coordinates of the space.
  • the method for detecting an obstacle by acquiring image information; extracting feature points in the image information, the feature points include non-essential feature points and necessary feature points; Constructing a spatial three-dimensional coordinate of the feature point to form a spatial feature point set; according to the spatial feature point set, removing the necessary feature point according to a specified condition, and obtaining a necessary feature point to form a spatial obstacle point set;
  • the obstacle point set is projected onto the two-dimensional plane to obtain coordinate points of the spatial obstacle point set on the two-dimensional plane; thereby detecting the coordinate position of the obstacle to assist in predicting the obstacle. It can also detect unknown environments and divide the cleaning area.
  • an embodiment of the present invention further provides a visual cleaning robot, including:
  • the collecting unit 10 is configured to collect image information in a visual range
  • the extracting unit 20 is configured to extract feature points in the image information, where the feature points include necessary feature points
  • a building unit 30, configured to construct a spatial three-dimensional coordinate of the feature point to form a spatial feature point set
  • a feature unit 40 configured to extract, according to the set of spatial feature points, necessary feature points according to a specified condition to form a set of spatial obstacle points;
  • the projection unit 50 is configured to project the set of spatial obstacle points onto a two-dimensional plane to obtain coordinate points of the spatial obstacle point set on a two-dimensional plane.
  • the collecting unit 10 continuously collects image information in the visual range through the built-in camera, and the image information includes the ceiling, the ground, and the wall surface.
  • the feature points are pixels, which can be pixels with higher brightness or darker colors.
  • the extracting unit 20 of the present invention includes:
  • Arrangement unit 201 used to sequentially arrange multiple captured pictures or multiple frames of video in chronological order ⁇ 0 2019/104732 ⁇ (:17 ⁇ 2017/114323
  • the first analyzing unit 202 is configured to analyze whether there is a pixel point change in the same direction or the same route in the image information in the plurality of pictures or the multi-frame video arranged in chronological order;
  • the second analyzing unit 203 is configured to analyze whether the change of the pixel point is greater than a preset value
  • the second analyzing unit 203 may analyze whether the size of the same direction or the same route pixel point change in the image information in the adjacent two pictures or two frames of video is greater than a preset value, and the preset value may be 3 mm, for example, The second analyzing unit 203 compares whether the diameter of the pixel in the next picture differs from the diameter of the pixel in the previous picture by more than 3 mm.
  • the extracting unit 204 extract the pixel point if the change of the pixel point is greater than a preset value.
  • the constructing unit 30 After extracting the feature points of the image information in the visual range, the constructing unit 30 reconstructs the spatial point information of the cleaning environment by using a method of visual SLAM (real-time positioning and map construction to realize autonomous positioning and navigation of the robot) to construct the The three-dimensional coordinates of the space where the feature points are located.
  • the above feature points necessarily include non-essential feature points of the ceiling plate, and it is impossible to become an obstacle of the visual sweeping robot because the ceiling or the like.
  • the feature unit 40 uses the method of plane fitting to analyze and estimate the position of the ceiling, and eliminates all unnecessary feature points such as the ceiling and its vicinity (such as within the range of lm distance) to obtain necessary feature points, and the necessary feature points are A set of spatial obstacle points is formed in the three-dimensional coordinates of the space.
  • the projection unit 50 projects the three-dimensional coordinates of the necessary feature points in the above-mentioned spatial obstacle points on the two-dimensional plane, and obtains the coordinate points of the obstacle on the two-dimensional plane.
  • the visual sweeping robot in this embodiment has the advantages of high applicability, high detection accuracy, low cost, and low computational complexity.
  • the visual cleaning robot further includes:
  • the marking unit 51 is configured to mark the coordinate point at a position corresponding to the two-dimensional map of the cleaning area according to the coordinate point of the spatial obstacle point set on the two-dimensional plane.
  • the coordinate origin of the two-dimensional plane is the same as the origin of the two-dimensional map, and the convenient marking unit 51 quickly marks the coordinate point at a position corresponding to the two-dimensional map, and the map of the cleaning area may be pre-established and stored.
  • the visual sweeping robot it is also a map created when the visual sweeping robot is cleaned.
  • the visual cleaning robot further includes:
  • an obtaining unit 60 configured to acquire current positioning coordinates
  • the analyzing unit 70 is configured to analyze a positional relationship between the current positioning coordinate and the coordinate point;
  • the processing unit 80 is configured to perform processing according to the location relationship to select a corresponding preset manner. ⁇ 0 2019/104732 ⁇ (:17 ⁇ 2017/114323
  • the acquiring unit 60 acquires the current positioning from time to time, and marks the current positioning on the two-dimensional plane to obtain the current positioning coordinates on the two-dimensional plane, and the analyzing unit 70 analyzes the current positioning coordinate and the coordinate on the two-dimensional plane.
  • the positional relationship of the points, the processing unit 80 can perform corresponding processing according to the positional relationship between the current positioning coordinates of the visual cleaning robot itself and the coordinate points of the spatial obstacle point set, for example, avoid obstacles, and explore all obstacles in the cleaning area. Things and so on.
  • the processing unit 80 includes:
  • a determining subunit 801 configured to determine whether the location relationship is less than a preset value
  • the deceleration subunit 802 is configured to control the deceleration operation when the positional relationship is less than a preset value.
  • the positional relationship is the distance between the current positioning coordinate and the coordinate point of the spatial obstacle point set on the two-dimensional plane, and the preset value is 0.5 m.
  • the processing unit 80 further includes:
  • a first analysis subunit 803 configured to analyze feature attributes of the set of spatial obstacle points
  • the feature attribute is the size of the length, width, and height of the set of spatial obstacle points.
  • the second analysis sub-unit 804 is configured to analyze whether the feature attribute is greater than a preset attribute; and the preset attribute is a preset size of a length, a width, and a height.
  • the avoidance sub-unit 805 is configured to control to avoid the spatial obstacle object point set if the feature attribute is greater than a preset attribute.
  • the feature attribute of the spatial obstacle point set may also be marked on the map of the cleaning area.
  • the plurality of spatial obstacle points are set, and correspondingly, the position relationship is multiple, and the position relationship is a position distance, and the processing unit 80 Includes:
  • a selection subunit 810 configured to select a shortest position distance from a plurality of the location distances
  • the control subunit 820 is configured to control the space obstacle point set motion corresponding to the shortest position distance.
  • the processing unit 80 further includes:
  • the distance analyzing unit 821 is configured to analyze whether the shortest position distance is less than a predetermined value
  • the starting unit 822 is configured to: when the shortest position distance is less than a predetermined value, start the ultrasonic sensor to emit an ultrasonic signal; ⁇ 0 2019/104732 ⁇ (:17 ⁇ 2017/114323
  • the signal receiving unit 823 is configured to receive a feedback signal that is fed back when the ultrasonic signal encounters an obstacle;
  • the information analysis unit 824 is configured to analyze location information and feature attributes of the obstacle according to the feedback signal.
  • an attribute analysis unit 825 configured to analyze whether the feature attribute is greater than a preset attribute;
  • the obstacle marking unit 826 is configured to: if the feature attribute is greater than the preset attribute, clear the mark corresponding to the coordinate point of the space obstacle point set on the two-dimensional map, and mark the position information of the obstacle in the two-dimensional map of the cleaning area. Corresponding location
  • the location storage unit 827 is configured to store a two-dimensional map of the location information marked with the obstacle so as to avoid the obstacle when planning the cleaning route.
  • the visual cleaning robot further includes:
  • a dividing unit 61 configured to divide the cleaning area according to the marking of the plurality of coordinate points on the map
  • the cleaning area may be divided according to the position of the coordinate point corresponding to all the spatial obstacle points in the cleaning area.
  • the sub-area after the area division can also be covered by the map.
  • the feature points further include non-essential feature points.
  • the feature unit 40 includes:
  • a third analysis subunit 401 configured to analyze a positional relationship of the feature points in the set of spatial feature points
  • a region numerator unit 402 configured to distinguish the non-essential feature point and the necessary feature point according to the positional relationship
  • a culling sub-unit 403 configured to cull the non-essential feature points according to the specified condition
  • the condition specified in the present embodiment is to retain the necessary feature points, since the ceiling or the like is unlikely to be an obstacle to the visual sweeping robot. Therefore, the region molecular unit 402 analyzes the non-denot feature points such as the position of the ceiling from the feature points by using a plane fitting method, and the culling sub-unit 403 sets the non-essential feature points of the ceiling and its preset range (eg, within the distance of 1111). All are eliminated, and the necessary feature points are obtained.
  • the forming sub-unit 404 forms the set of spatial obstacle points in the three-dimensional coordinates of the space.
  • the method for detecting a visual sweeping robot and an obstacle detected by the embodiment of the present invention is ⁇ 0 2019/104732 ⁇ (:17 ⁇ 2017/114323
  • the feature points include necessary feature points; constructing spatial three-dimensional coordinates of the feature points to form a spatial feature point set; according to the spatial feature point set, according to Specifying conditions to remove the necessary feature points, obtaining necessary feature points to form a spatial obstacle point set; projecting the spatial obstacle point set onto the two-dimensional plane to obtain the spatial obstacle point set on the two-dimensional plane Coordinate point; thereby detecting the coordinate position of the obstacle to assist in predicting the obstacle; and detecting the unknown environment and dividing the cleaning area.

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de détection d'obstacle comprenant les étapes consistant à : construire un système de coordonnées spatiales tridimensionnelles, dans lequel les points de caractéristiques sont situés, de façon à former un ensemble de points de caractéristiques spatiaux ; extraire, en fonction de l'ensemble de points de caractéristiques spatiaux, des points de caractéristiques nécessaires selon des conditions spécifiées, de façon à former un ensemble de points d'obstacle spatiaux ; et projeter l'ensemble de points d'obstacle spatiaux sur un plan bidimensionnel, de façon à obtenir les points de coordonnées de l'ensemble de points d'obstacle spatiaux sur le plan bidimensionnel, et à détecter la position de coordonnées d'un obstacle en fonction desdits points de coordonnées, ce qui permet d'aider à la prédiction de l'obstacle.
PCT/CN2017/114323 2017-12-01 2017-12-01 Robot de nettoyage doté de vision et procédé de détection d'obstacle WO2019104732A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/114323 WO2019104732A1 (fr) 2017-12-01 2017-12-01 Robot de nettoyage doté de vision et procédé de détection d'obstacle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/114323 WO2019104732A1 (fr) 2017-12-01 2017-12-01 Robot de nettoyage doté de vision et procédé de détection d'obstacle

Publications (1)

Publication Number Publication Date
WO2019104732A1 true WO2019104732A1 (fr) 2019-06-06

Family

ID=66663688

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/114323 WO2019104732A1 (fr) 2017-12-01 2017-12-01 Robot de nettoyage doté de vision et procédé de détection d'obstacle

Country Status (1)

Country Link
WO (1) WO2019104732A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102246201A (zh) * 2008-12-12 2011-11-16 松下电器产业株式会社 图像处理装置及图像处理方法
CN103901774A (zh) * 2012-12-28 2014-07-02 联想(北京)有限公司 高效鲁棒的基于多传感器的slam协调方法及系统
CN103984037A (zh) * 2014-04-30 2014-08-13 深圳市墨克瑞光电子研究院 基于视觉的移动机器人障碍物检测方法和装置
US20140316636A1 (en) * 2013-04-23 2014-10-23 Samsung Electronics Co., Ltd. Moving robot, user terminal apparatus and control method thereof
CN107153831A (zh) * 2017-03-28 2017-09-12 宇龙计算机通信科技(深圳)有限公司 智能终端的定位方法、系统及智能终端

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102246201A (zh) * 2008-12-12 2011-11-16 松下电器产业株式会社 图像处理装置及图像处理方法
CN103901774A (zh) * 2012-12-28 2014-07-02 联想(北京)有限公司 高效鲁棒的基于多传感器的slam协调方法及系统
US20140316636A1 (en) * 2013-04-23 2014-10-23 Samsung Electronics Co., Ltd. Moving robot, user terminal apparatus and control method thereof
CN103984037A (zh) * 2014-04-30 2014-08-13 深圳市墨克瑞光电子研究院 基于视觉的移动机器人障碍物检测方法和装置
CN107153831A (zh) * 2017-03-28 2017-09-12 宇龙计算机通信科技(深圳)有限公司 智能终端的定位方法、系统及智能终端

Similar Documents

Publication Publication Date Title
US9911226B2 (en) Method for cleaning or processing a room by means of an autonomously mobile device
US10705535B2 (en) Systems and methods for performing simultaneous localization and mapping using machine vision systems
WO2021031427A1 (fr) Robot de balayage et procédé de commande automatisé pour robot de balayage
EP4193897A1 (fr) Procédé et appareil de détection d'obstacle, robot automoteur et support de stockage
JP6445995B2 (ja) センサデータの空間的集約を用いる適応マッピング
EP3585571B1 (fr) Robot mobile et son procédé de commande
EP3104194B1 (fr) Système de positionnement de robot
US7184586B2 (en) Location mark detecting method for robot cleaner and robot cleaner using the method
KR101753361B1 (ko) 청소 로봇을 이용한 스마트 청소 시스템
US20160282107A1 (en) System and Method for Measuring by Laser Sweeps
CN113331743A (zh) 清洁机器人清洁地面的方法以及清洁机器人
CN107928566A (zh) 视觉扫地机器人及障碍物检测方法
CN112075879A (zh) 一种信息处理方法、装置及存储介质
US10437251B2 (en) Method for specifying position, terminal device, autonomous device, and program
WO2019001237A1 (fr) Dispositif électronique mobile, et procédé dans un dispositif électronique mobile
US20220257075A1 (en) Moving robot and method of controlling the same
JP6828708B2 (ja) 制御装置、監視システム、及び監視カメラ制御方法
KR20120033414A (ko) 자기 위치 인식을 수행하는 로봇 및 그의 운용 방법
JP2004338889A (ja) 映像認識装置
WO2019104732A1 (fr) Robot de nettoyage doté de vision et procédé de détection d'obstacle
CN113662476B (zh) 一种提高可移动清洁机器人清洁覆盖率的方法、以及系统
JP7327596B2 (ja) 自律移動装置、自律移動装置のレンズの汚れ検出方法及びプログラム
TW201445485A (zh) 機器人及其機器人管理停車場方法
RU2800503C1 (ru) Робот-уборщик и способ автоматического управления роботом-уборщиком
EP2325713B1 (fr) Procédés et systèmes pour le mouvement d'un dispositif robotique à l'aide d'un signal vidéo

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17933708

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17933708

Country of ref document: EP

Kind code of ref document: A1