WO2021248845A1 - 一种机器人沿边行走的清洁分区规划方法、芯片及机器人 - Google Patents
一种机器人沿边行走的清洁分区规划方法、芯片及机器人 Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 373
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000005192 partition Methods 0.000 claims description 87
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- 230000009286 beneficial effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 238000009432 framing Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 2
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- 238000003491 array Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- 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
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
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- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G05D1/60—Intended control result
- G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
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- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Definitions
- the present invention relates to the technical field of path planning of robot laser data, in particular to a cleaning partition planning method, a chip and a robot for a robot to walk along the edge.
- the sweeper performs the cleaning operation according to the rectangular frame area of the MxN grid size (usually 4x4 grid size). After cleaning the current framed MxN grid area, The expansion frame defines another MxN grid area, and continues to clean in the newly expanded area until all the working area is covered.
- the advantage of this working mode is that it does not require a priori map.
- the disadvantage is that the outline of the area defined by the frame differs greatly from the actual terrain, causing problems such as more navigation paths, too many small areas, and slow sweeping.
- a cleaning partition planning method for robots walking along the edge is executed during the robot walking along the edge, and specifically includes the following steps: Step 11, starting from the starting point position of the robot along the edge, according to the laser map The pixel statistics of the laser image scanned in each coordinate axis direction, and then locate the contour boundary line segment along the coordinate axis direction of the laser map within the pre-defined clean area currently framed; the laser map is the process of the robot walking along the edge Step 12, select the contour boundary line segment closest to the preset position from each coordinate axis direction, and enclose a rectangular initial room cleaning partition; Step 13, when the initial room cleaning partition does not belong to the preset room cleaning When partitioning, select a coordinate axis direction with priority expansion, delete the non-wall obstacle line segment positioned perpendicular to the coordinate axis direction of priority expansion in the initial room cleaning partition, and then start to expand the initial room cleaning partition along the same coordinate axis direction, and then Proceed to step 14; step 14, judge whether the contour boundary line segment adjacent to
- this technical solution does not need to pre-store a complete global map, but based on the pixel information of the map image obtained by laser scanning during the edge process, the initial room cleaning of the robot is divided in real time in the predefined cleaning area.
- the initial room cleaning zone of the robot is expanded by repeatedly iteratively processing the wall boundaries of the uncleaned area, so as to ensure that the predefined cleaning zone is finally formed in the same predefined cleaning area. Setting the outline boundary of the room cleaning zone to be similar to the wall boundary of the indoor home room improves the efficiency of the robot navigating along the boundary of the preset room cleaning zone, and also effectively prevents the robot from repeating cleaning in the preset room cleaning zone.
- the method further includes: on the laser map constructed by real-time scanning of the robot, first frame a predefined cleaning area with a planned starting point position as the center, and then select a nearest distance within the predefined cleaning area currently framed The starting point position along the edge of the physical boundary, control the robot from the starting point position along the edge to proceed along the path planned in a straight line to the physical boundary, until the robot is configured to walk along the edge along the physical boundary; where the physical boundary includes pre-defined The boundary or wall of the obstacle in the cleaning area; the planned starting position is the starting position of the robot in the pre-defined cleaning area currently framed.
- This technical solution speeds up the speed at which the robot starts to walk along the edge and reduces the navigation path.
- the robot is controlled to continue to walk along the edge in the divided preset room cleaning zone, and wait until the robot finishes this cleaning zone.
- the control robot starts to perform planned cleaning on this preset room cleaning zone; wherein, this preset room cleaning zone surrounds the planned starting point position, and the robot moves from the planned starting point. Plan the starting point to start the walking path along the edge, and the path along the edge that the robot has already walked.
- this technical solution divides the preset room cleaning zone in real time during the edge-edge process to select a cleaning area that matches the actual room environment boundary to perform edge-edge and then clean-up operations, which can avoid long edge-edge cleaning. Walk without cleaning.
- the control robot continues to divide the new preset room cleaning partition, and then merges the two preset room cleaning partitions, and then controls the robot to continue to walk along the edges in the two combined preset room cleaning partitions, and wait until the robot After completing a circle and returning to the planned starting point, the control robot starts to perform planned cleaning on the two merged preset room cleaning partitions; wherein, the two merged preset room cleaning partitions surround the planned starting point position , The robot starts from the planned starting point position to start the walking path along the side, and the side path that the robot has walked.
- This technical solution ensures that the robot divides the preset room cleaning partitions along the edges, improves the smoothness of the robot's walking along the edge and cleaning the planned path, is not prone to machine stalls, and reduces the construction and calculation time of the map area.
- control robot does not step out of the preset room cleaning zone during the execution of the planned cleaning until the preset room cleaning zone is covered by the planned cleaning path, and then marks the area covered by the robot cleaning as already The area is cleaned, and the scanned area outside the area covered by the robot cleaning is marked as the uncleaned area.
- the pre-defined cleaning area is a square frame area with the planned starting point position as the diagonal intersection point, used to limit the range of the robot walking along the side, and then surround the preset room cleaning partition that is currently determined , Or the preset room cleaning zone merged in the same predefined cleaning area; wherein the coverage area of the predefined cleaning area is equivalent to the actual physical area of a square, and the side length of the actual physical area of the square is equal to The size of the indoor area to be cleaned is related.
- This technical solution sets a rectangular area that limits the edge range corresponding to each planned starting position, which is used to frame the area range of the preset room cleaning partition of the robot planning in advance, and also prevents the robot from walking endlessly along the edge.
- the specific method for determining the preset room cleaning zone includes: when none of the contour boundary line segments surrounding the initial room cleaning zone is a non-wall obstacle line segment, and there are isolated obstacles inside the initial room cleaning zone When the length of the line segment is smaller than the preset ratio of the length of the line segment corresponding to the number of pixels of the wall fitting quantity value to the length of either side of the initial room cleaning zone, it is determined that the initial room cleaning zone belongs to all The preset room cleaning partition; when one of the contour boundary line segments surrounding the initial room cleaning partition is a non-wall obstacle line segment, or the length of the isolated obstacle line segment inside the initial room cleaning partition is greater than or equal to When the length of the line segment corresponding to the number of pixels of the wall fitting quantity value, or the length of the isolated obstacle line segment inside the initial room cleaning zone is greater than or equal to the preset ratio of the length of one side of the initial room cleaning zone, It is determined that the initial room cleaning partition does not belong to the preset room cleaning partition; wherein the contour boundary line segment is divided into a non-
- the isolated obstacle line segment is marked as the wall obstacle line segment.
- This technical solution determines the environmental characteristics of the preset room cleaning zone by judging the length of the boundary line segment, eliminates the interference effect of obstacles in other areas, and fits the isolated obstacle line segment of a non-negligible length to the physical wall, The influence of the contour boundary line segment being misjudged as a wall is reduced, so that the preset room cleaning partition is almost surrounded by the wall.
- step 11 includes: in the predefined clean area, starting from the planned starting point position, counting the image pixels of the currently constructed laser map; and counting up to the ordinate along the X-axis direction
- the preset boundary threshold mark the contour boundary line segment formed by the connection of these black pixels with the same ordinate, so that the predefined clean area extends along the X-axis direction
- the area is divided by the corresponding contour boundary line segment; whenever the number of black pixels with the same abscissa exceeds the preset boundary threshold along the Y-axis direction, mark the connection of these black pixels with the same abscissa
- the contour boundary line segment is formed such that the area extending in the Y-axis direction in the predefined cleaning area is divided by the corresponding contour boundary line segment.
- an area with a certain degree of passability is selected in the predefined cleaning area to mark a contour boundary line segment to enclose the contour of the preset room cleaning zone
- the boundary line segments can be aligned with each other to make the room area division more regular and reasonable, and also to ensure that the marked outline boundary line segments can frame a rectangular working area that supports the robot to continuously walk along the side.
- a chip with a built-in control program for controlling a mobile robot to execute the cleaning partition planning method is provided.
- a robot is equipped with a laser sensor, and the robot has the built-in chip for configuring the robot to segment the preset room cleaning zone during the process of walking along the edge.
- This technical solution does not need to pre-store a complete global map, but based on the pixel information of the map image obtained by laser scanning during the edge process, the initial room cleaning zone of the robot is divided in real time in the predefined cleaning area, and the initial room cleaning zone of the robot is divided in the same way.
- the initial room cleaning zone of the robot is expanded by iteratively processing the wall boundary of the uncleaned area, so as to ensure that the contour boundary of the preset room cleaning zone is finally formed in the same predefined cleaning zone Similar to the wall boundary of an indoor home room, it improves the efficiency of the robot navigating along the boundary of the preset room cleaning zone, and also effectively prevents the robot from repeating cleaning in the preset room cleaning zone.
- FIG. 1 is an effect diagram of framing a predefined clean area P1 on a gray-scale laser map constructed by scanning when the robot moves to the planned starting point position O.
- FIG. 2 is an effect diagram of the robot dividing the preset room cleaning zone #1 from the predefined cleaning area P1 during the edge-edge process.
- FIG. 3 is an effect diagram of framing the predefined clean area P2 on the gray-scale laser map constructed by scanning when the robot moves to the planned starting point position O1.
- Figure 4 is an effect diagram of the robot dividing the preset room cleaning zone #2 from the predefined cleaning area P2 during the edge-edge process, where the preset room cleaning zone #1 and the preset room cleaning zone #2 are on the laser map Adjacent.
- Fig. 5 is a flowchart of a cleaning partition planning method for a robot walking along the edge disclosed in an embodiment of the present invention.
- the technical solutions in the embodiments of the present invention will be described in detail below in conjunction with the drawings in the embodiments of the present invention.
- the present invention is provided with drawings. These drawings are a part of the disclosure of the present invention, which are mainly used to illustrate the embodiments, and can cooperate with the relevant description in the specification to explain the operation principle of the embodiments. With reference to these contents, those of ordinary skill in the art should be able to understand other possible implementation manners and advantages of the present invention.
- the image size of the laser map in the figure is not drawn to scale.
- the main body of execution of the method program in the embodiment of the present invention is a laser navigation robot.
- the laser navigation robot can be equipped with a laser sensor, which can detect obstacles. In a general scenario, the laser navigation robot can be set in The laser sensor on the laser navigation robot detects whether there are obstacles around and marks it on the laser map immediately.
- the present invention discloses a cleaning partition planning method for a robot walking along the edge.
- the cleaning partition planning method is executed during the robot walking along the edge, as shown in FIG. 5, which specifically includes the following steps:
- Step S11 Starting from the starting point position along the edge of the robot, according to the pixel statistical information of the laser map scanned by the robot in the current bounded pre-defined clean area, locate the contour boundary line segment in each coordinate axis direction of the laser map, and then enter Step S12; wherein the laser map is scanned and constructed by the robot while walking along the edge; the specific method of step S11 includes: starting from the planned starting point within the pre-defined clean area, statistics of the currently constructed laser map For image pixels, contour boundary line segments are located in the coordinate axis directions within the predefined cleaning area, and the respective coordinate axis directions include the X-axis direction and the Y-axis direction shown in the figure.
- This embodiment uses the histogram of obstacles to count the number of occurrences of various gray-scale pixels in the detection interval that are different from the planned starting point position, and also realizes obstacles to pixels of corresponding gray-levels.
- the contour boundary line segment formed by the connection of these black pixels with the same ordinate is marked, so that The area extending along the X-axis in the predefined cleaning area is divided by the corresponding contour boundary line segment; in fact, the subsequent steps may determine that the contour boundary line segment is not a wall and be deleted, and then merge the corresponding divided areas to avoid excessive segmentation Area, but it can still describe the contour features of the local area in the X-axis direction; whenever the number of black pixels with the same ordinate along the X-axis direction does not exceed the preset boundary threshold, it will not follow the current direction The contour boundary line segment is marked on the top.
- the contour boundary line segment formed by the connection of these black pixels with the same abscissa is marked, so that all The area extending in the Y-axis direction in the predefined cleaning area is divided by the corresponding contour boundary line segment, otherwise the contour boundary line segment is not marked along the current direction to realize the description of the local area contour feature in the Y-axis direction.
- the step may determine that the contour boundary line segment determined in this direction is not a wall and cannot function as a segmentation area. It is necessary to continue to search for the next contour boundary line segment to approximate the size of the wall edge. Framed in the predefined clean area Out to clean the partition.
- the contour boundary line segment is related to the size of the robot body and the side length of the predefined cleaning area, and can be adjusted according to actual needs.
- an area with a certain degree of passability is selected in the predefined cleaning area to mark contour boundary line segments, and the contour boundary line segments enclosing the clean area can be mutually connected. Alignment makes the room area division more regular and reasonable, and also ensures that the marked outline boundary line can frame the rectangular working area for the robot to walk along the side continuously.
- Step S12 Select the contour boundary line segment closest to the preset position from each coordinate axis direction to enclose a rectangular initial room cleaning zone, and then go to step S13; in this embodiment, the initial room cleaning zone belongs to FIG. 2
- the room cleaning zone #1 is shown as a part of a rectangular area.
- Step S13 When the initial room cleaning zone does not belong to the preset room cleaning zone, select a coordinate axis direction with priority expansion (for example, the negative direction of the Y axis), and delete the non-aligned axis direction in the initial room cleaning zone that is positioned perpendicularly to the coordinate axis direction with priority expansion.
- the wall obstacle line segment is then expanded along the same coordinate axis to expand the initial room cleaning zone, and then go to step S14.
- Step S14 Determine whether the contour boundary line segment adjacent to the non-wall obstacle line segment deleted in step S13 located in the coordinate axis direction of the priority expansion in step S13 is located in the uncleaned area within the pre-defined cleaning area currently framed If yes, go to step S15, otherwise go to step S17. This step is used to limit the expansion range of the contour boundary line segment in the coordinate axis direction of the priority expansion, so as to avoid the clean partition defined by the contour boundary line segment and the cleaned area or the unknown area from having more overlapping areas.
- Step S15 Determine whether the intersection of the contour boundary line segment located in the coordinate axis direction of the priority expansion in step S13 and the remaining contour boundary line segment of the aforementioned initial room cleaning partition does not form a preset room cleaning partition, if yes, return to step S13, that is It means that the judgment conditions of step S14 and step S15 are satisfied, then return to step S13 to continue the expansion in the currently selected coordinate axis direction; otherwise, go to step S16.
- Step S16 It is determined that the predefined cleaning area is divided into a preset room cleaning zone by the corresponding contour boundary line segment, and there is no need to continue to expand in the original predefined cleaning area.
- Step S17 Stop the expansion in the direction of the coordinate axis currently selected in the step S13, and then return to the step S13 to select the coordinate axis direction of the lower expansion priority (such as the negative direction of the X-axis) for expansion, by repeating
- the foregoing steps enable the predefined cleaning area to be divided into a preset room cleaning zone by the corresponding contour boundary line segment.
- the non-wall obstacle line segment belongs to the contour boundary line segment but does not represent the wall, and the contour boundary line segment enclosing the preset room cleaning partition and the actual room boundary coincide within the preset error allowable range;
- the actual room boundary includes the boundary of the obstacle inside the preset room cleaning zone and/or the boundary of the obstacle inside the actual edge area.
- the box boundary of room cleaning zone #1 as shown in Fig. 2 is close to the wall boundary of the actual environment, that is, the preset room cleaning zone #1 and the predefined cleaning zone P2 divided in the predefined cleaning zone P1
- the preset room cleaning partition #2 divided within are all close to the terrain of the actual room; among them, the non-wall obstacle line segment is the contour boundary line segment that does not belong to the wall, and the contour boundary line segment enclosing the preset room cleaning partition is consistent with the actual
- the room boundaries are coincident within the preset tolerance range; where the actual room boundaries include the boundaries of obstacles inside the preset room cleaning zone and/or the boundaries of obstacles inside the actual edge area, and the actual room is Predefine the actual physical area where the clean area is located.
- this embodiment uses the pixel information of the map image acquired by laser scanning to divide the initial room cleaning zone of the robot in the predefined cleaning area in real time, and in the same predefined cleaning area, pass Iteratively process the wall boundary of the uncleaned area to expand the initial room cleaning zone of the robot, so as to ensure that the contour boundary of the room cleaning zone finally formed in the same predefined cleaning area is similar to the actual room boundary.
- the initial working area is expanded into closed box areas #1 and #2 with a larger area and wider coverage, so that the robot can navigate to the wall of the actual environment along the continuously revised and expanded contour boundary line.
- the target position improves the efficiency of the robot navigating along the boundary of the preset room cleaning zone, and also effectively prevents the robot from repeating cleaning in the preset room cleaning zone.
- the cleaning partition planning method further includes: after starting the robot to start planning the area, on the laser map constructed by the robot real-time scanning, frame a predefined cleaning area with the planned starting point position of the robot as the center, where , The planned starting position is the starting position of the robot in the pre-defined cleaning area currently framed.
- the currently defined pre-defined cleaning area is a square frame area defined by the robot at the starting position O (the current planned starting point position) with the starting position O as the diagonal intersection, which is used to limit the robot along the edge The range of the contour boundary line segment for walking and construction.
- This square box area is a square box with an actual side length of 12 meters; it is worth noting that although the pre-defined cleaning area is a closed area, this pre-defined cleaning area is not all It is detected and scanned by the laser sensor on the robot; while the robot is walking along the edge of the current framed predefined cleaning area, it keeps not crossing the currently framed predefined cleaning area, which is equivalent to not stepping out of a square with a side length of 12 meters The actual physical area.
- step S3 the robot is configured to move along the edge along this physical boundary: controlling the robot to start from the edge starting point closest to the planned starting point within the pre-defined cleaning area currently framed, Start walking along the edge along the physical boundary where the starting point of the edge is located, but the direction along the edge is not limited.
- the physical boundary includes the boundary or wall of the obstacle in the pre-defined clean area currently framed, so that the robot is moving along the edge. In the process of advancing along the path planned in a straight line, only when the boundary or wall of the obstacle is detected, the mode of walking along the edge can be turned on. Speed up the robot to start walking along the edge and reduce the navigation path.
- the robot when it is detected that the preset room cleaning zone is divided from the currently framed predefined cleaning area, the robot is controlled to continue to walk along the edge in the divided preset room cleaning zone, and wait until the robot After completing a circle of this preset room cleaning zone and returning to the planned starting point, the control robot starts to perform planned cleaning on this preset room cleaning zone; wherein, this preset room cleaning zone surrounds the planned starting point position and the robot From the planned starting point position to starting the walking path along the edge, and the edge path that the robot has already walked.
- this preset room cleaning zone surrounds the planned starting point position and the robot From the planned starting point position to starting the walking path along the edge, and the edge path that the robot has already walked.
- this embodiment divides the preset room cleaning zone in real time during the edge edge process to select a cleaning area that matches the actual room environment boundary to perform edge edge and then clean operation, which can avoid long edge edge cleaning. Walk without cleaning.
- the coverage area position of the predefined clean area also changes, as shown in FIG. 3
- the position O1 is shown in the square box area at the intersection of the diagonals.
- a rectangular area that limits the edge range is correspondingly set, which is used to frame the maximum edge walking range of the robot in advance and to lay out contour boundary line segments in the directions of each coordinate axis.
- the robot when the robot is walking along the edge, when the robot divides one of the preset room cleaning partitions at the original position, since the robot is walking along the edge faster, it does not stop and wait for the division while walking along the edge.
- Preset room cleaning partitions and map generation so it is determined that the robot has walked along the original location and the partition conforms to the preset room cleaning partition, then the robot is controlled to continue to divide the new preset room cleaning at the new location Partition, and then merge the two preset room cleaning partitions to support the robot to walk along the edge to return to the planned starting point, especially when the robot walks out of the gap of the preset room cleaning partition that is currently divided.
- the currently divided preset room cleaning partition continues to walk along the edge and enters the uncleaned area, where the original position in this embodiment may be the edge starting point in the aforementioned step S11, when the robot walks along the edge to a new one that meets the preset When the room is cleaned and partitioned, you can continue to walk along the edge to return to the planned starting point.
- control the robot to continue walking along the edges in the two merged preset room cleaning partitions, and when the robot completes a circle and returns to the planned starting point, the control robot starts to plan the two merged preset room cleaning partitions Type cleaning; wherein the two merged preset room cleaning partitions surround the planned starting point position, the robot's walking path along the edge from the planned starting point position to the start, and the edge path that the robot has walked.
- the robot performs the calculation of the division of the room cleaning partition while walking along the edge, so that the robot can perform edge walking and cleaning smoothly in the current pre-defined cleaning area, and the phenomenon of machine stalls is not prone to occur.
- the passed boundary is consistent with the actual environmental boundary corresponding to the pre-defined cleaning area currently framed, and the environmental adaptability of the room cleaning partition divided by the robot is improved.
- the control robot does not step out of the preset room cleaning zone during the execution of the planned cleaning until the preset room cleaning zone is covered by the planned cleaning path, and then marks the area covered by the robot cleaning as already The area is cleaned, and the scanned area outside the area covered by the robot cleaning is marked as the uncleaned area.
- the robot completes the planned cleaning of the preset room cleaning partition that is currently determined, it distinguishes the cleaned area from the uncleaned area according to the position information marked by the robot, that is, the robot uses the planned cleaning path
- the covered preset room cleaning partitions are all detected as the cleaned area, and other known areas (including the uncleaned areas that have been scanned and marked) are all detected as the uncleaned areas.
- the robot also scans and maps the preset room cleaning area to mark the cleaned area during the bow-shaped planning and cleaning of the room cleaning area. To remind the robot not to repeat cleaning operations on the cleaned area. Therefore, it is possible to accurately distinguish the cleaned area and the non-cleaned area within the predefined cleaning area, which is beneficial to realize the full coverage of the area to be cleaned.
- the predefined cleaning area is a square frame area with the planned starting point position as the diagonal intersection, used to limit the range of the robot walking along the side, and then surround the preset preset that is currently determined.
- the side length is related to the size of the indoor area to be cleaned.
- the coverage area of the aforementioned pre-defined cleaning area is equivalent to the actual physical area of a square with a side length of 12 meters, and the location of the coverage area of the pre-defined cleaning area changes with the planned starting point of the robot. .
- the foregoing embodiment correspondingly sets a rectangular area that limits the edge range for each planned starting point position, which is used to frame the maximum edge edge range of the robot in advance, and also prevents the robot from endlessly performing edge walking. 1 and FIG. 2, it can be seen that the robot scans and divides the preset room cleaning zone #1 shown in FIG. 2 at the planned starting point position O in the predefined cleaning area P1 shown in FIG.
- the planned starting point position O is also located inside the preset room cleaning zone #1, where the predefined cleaning area P1 is a square frame area with the planned starting position O as the diagonal intersection, which is used to surround the preset room cleaning zone #1 to limit the range where the robot can walk along the edge.
- the robot is controlled to walk along the edge in the matching area. When the robot completes a circle in this matching area and returns to the When planning the starting position, control the robot to perform planned cleaning in this matching area.
- a new pre-defined cleaning area is defined as the center of the next planned starting point position, and then an edge of the closest physical boundary is selected in this new pre-defined cleaning area Starting point position, control the robot from this starting point position along the edge to proceed along the path planned in a straight line to this physical boundary, until the robot is configured to walk along the edge along this physical boundary; where the physical boundary includes this new pre-defined clean area
- the boundary or wall of the obstacle inside; the next planned starting position is the starting position of the robot in this new pre-defined cleaning area.
- the control robot bypasses the already distinguished cleaned area in the process of performing planned cleaning and walking along the edge, including the cleaned area marked in the previous process of walking along the edge; wherein, the next planned starting point position It is the position in the uncleaned area that is closest to the position where the robot currently ends the planned cleaning.
- the next planned starting point position needs to rely on the robot to plan and navigate straight from the position where the planned cleaning is currently completed.
- the robot is in the process of walking If an obstacle or a wall is detected, it will continue to walk along the boundary or wall of the currently detected obstacle until it navigates to the next planned starting point.
- next planned starting point location is used to frame a new predefined cleaning area, so that enough unknown map areas can be scanned in the subsequent edge edge process, more room cleaning partitions or actual edge areas are framed, and the cleaned area is bypassed. Walk along the side to reduce unnecessary navigation paths.
- FIG. 2 and FIG. 3 it can be seen that after the robot completes the bow-shaped planning cleaning of the preset room cleaning zone #1 divided by scanning in the predefined cleaning area P1 of FIG. 1, the preset room cleaning zone of FIG. 2 #1 is marked as a cleaned area, and the map area outside the box of the preset room cleaning zone #1 in Figures 2 and 3 is marked as an uncleaned area, and the preset room cleaning zone #1 in Figure 2 is marked The information is more than the marked information in the same area in Figure 1.
- the planned starting point position O1 in Figure 3 is located at the upper left of the planned starting point position O in Figure 1, and the planned starting point position O1 in Figure 3 is still located at the scanned known laser
- the planned starting point position O1 is closest to the end cleaning position of the preset room cleaning zone #1 in FIG.
- the predefined cleaning area P2 of FIG. 3 is offset to the upper left with respect to the predefined cleaning area P1 of FIG. 1 of the same size, so that the predefined cleaning area P2 of FIG. 3 scans out that the predefined cleaning area P1 of FIG.
- the robot will clean and build the map in the preset room cleaning area divided by the pre-defined cleaning area P2, obtain the preset room cleaning area #4 in Figure 4, and plan more for the laser map to be constructed immediately , which fits the actual wall area, but the two predefined cleaning areas distributed in different coverage areas, the predefined cleaning area P2 and the predefined cleaning area P1, are used to limit the range of the robot walking along the side.
- the predefined cleaning area P2 of FIG. 3 surrounds the preset room cleaning zone #1 marked as the cleaned area in FIG. 3, so that the predefined cleaning area P2 and the predefined cleaning area P1 of FIG. Including the preset room cleaning zone #1; and in the subsequent predefined cleaning area P2, the preset room cleaning zone expanded based on the boundary contour line in the priority expansion direction is not related to the preset room marked as the cleaned area A coincident area appears in clean partition #1.
- the robot scans and divides the preset room cleaning zone #2 shown in FIG. 4 at the planned starting point position O1 shown in FIG. 3, and the preset room cleaning zone #2 in FIG. 4 is marked
- the map information of is more than the map information marked in the same area in FIG. 3; the planned starting point position O1 is also located inside the preset room cleaning zone #2, and the predefined cleaning area P2 surrounds the preset room cleaning zone #2 .
- the preset room cleaning partition #2 in FIG. 4 is just adjacent to the preset room cleaning partition #1 in FIG.
- the preset room cleaning zone #1 can be bypassed when walking along the edge and bow-shaped planning and cleaning, avoiding repeated cleaning of the cleaned area, reducing cleaning time, and improving the cleaning efficiency of the robot.
- the preset room cleaning partitions #1 and #2 that are successively divided are in an adjacent relationship, that is, the preset room cleaning partitions that are divided successively are in an adjacent relationship, which is beneficial to improve the coverage of the cleaning area.
- the specific method for determining the preset room cleaning zone includes: when none of the contour boundary line segments surrounding the initial room cleaning zone are non-wall obstacle line segments, and the initial room cleaning zone When the length of the internal isolated obstacle line segment is smaller than the number of pixels corresponding to the wall fitting quantity value, the predetermined ratio of the line segment length to the length of any side of the initial room cleaning zone is relatively small, the enclosed area is framed If the size of the internal isolated obstacle is not enough to form a wall, it is determined that the initial room cleaning zone is the preset room cleaning zone; when one of the contour boundary line segments surrounding the initial room cleaning zone is a non-wall obstacle Line segment, or the length of the isolated obstacle line segment inside the initial room cleaning zone is greater than or equal to the length of the line segment corresponding to the number of pixels of the wall fitting value value, or the isolated obstacle line segment inside the initial room cleaning zone When the length of is greater than or equal to the preset ratio of the length of one side of the initial room cleaning zone, it is determined that the initial room cleaning
- the number of white pixels in the non-wall obstacle line segment is greater than or equal to the preset threshold, while the number of wall obstacle line segments is less than the preset threshold.
- the isolated obstacle line segment is marked as the wall obstacle line segment.
- This embodiment determines the environmental characteristics of the preset room cleaning zone by framing the line segment length properties of the contour boundary line segment of the initial room cleaning zone and the length of the isolated obstacle line segment inside the initial room cleaning zone, and excludes other areas.
- the interference effect of the straight line of obstacles, and the non-negligible length of the isolated obstacle line segment is fitted to the physical wall, reducing the influence of the contour boundary line segment being misjudged as the wall, and ensuring the contour boundary of the preset room clean partition built indoors
- the locations are close to the wall, so that the pre-defined clean room partitions can constitute the room area in the actual home environment, and the accuracy and intelligence of the robot in distinguishing between wall and non-wall obstacles are improved.
- a "computer-readable medium” can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, device, or device or in combination with these instruction execution systems, devices, or devices.
- computer-readable media include the following: electrical connections (electronic devices) with one or more wiring, portable computer disk cases (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
- the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because it can be used for example by optically scanning the paper or other medium, followed by editing, interpretation or other suitable media if necessary. The program is processed in a way to obtain the program electronically and then stored in the computer memory.
- a chip with a built-in control program for controlling a mobile robot to execute the cleaning partition planning method can be implemented by hardware, software, firmware, middleware, microcode, or any combination thereof.
- the processing unit can be in one or more application-specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays ( FPGA), a processor, a controller, a microcontroller, a microprocessor, other electronic units designed to perform the functions described herein, or a combination thereof.
- ASIC application-specific integrated circuits
- DSP digital signal processors
- DSPD digital signal processing devices
- PLD programmable logic devices
- FPGA field programmable gate arrays
- a processor a controller, a microcontroller, a microprocessor, other electronic units designed to perform the functions described herein, or a combination thereof.
- a robot is equipped with a laser sensor, and the robot has the built-in chip for configuring the robot to segment the preset room cleaning zone during the process of walking along the edge.
- This embodiment does not need to pre-store a complete global map, but according to the pixel information of the map image obtained by laser scanning during the edge process, the initial room cleaning zone of the robot is divided in real time in the predefined cleaning area, and the initial room cleaning zone of the robot is divided in the same way.
- the initial room cleaning zone of the robot is expanded by repeatedly iteratively processing the wall boundary of the uncleaned area, so as to ensure that the contour boundary of the preset room cleaning zone is finally formed in the same predefined cleaning zone Similar to the wall boundary of an indoor home room, it improves the efficiency of the robot navigating along the boundary of the preset room cleaning zone, and also effectively prevents the robot from repeating cleaning in the preset room cleaning zone.
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Abstract
Description
Claims (10)
- 一种机器人沿边行走的清洁分区规划方法,其特征在于,该清洁分区规划方法在机器人沿边行走过程中执行,具体包括以下步骤:步骤11、从机器人的沿边起点位置开始,根据机器人在当前框定的预限定清洁区域内扫描出的激光地图的像素点统计信息,定位出激光地图的各个坐标轴方向上的轮廓边界线段;其中,激光地图是机器人在沿边行走过程中扫描构建的;步骤12、从每个坐标轴方向上选择距离预设位置最近的轮廓边界线段,围成一个矩形的初始房间清洁分区;步骤13、当初始房间清洁分区不属于预设房间清洁分区时,选择一个优先拓展的坐标轴方向,删除初始房间清洁分区中垂直定位于优先拓展的坐标轴方向的非墙体障碍物线段,再沿着同一坐标轴方向拓展初始房间清洁分区,然后进入步骤14;步骤14、判断步骤13所述的优先拓展的坐标轴方向上定位出的与步骤13删除的非墙体障碍物线段相邻的轮廓边界线段是否位于当前框定的预限定清洁区域内的未清扫区域,且判断该坐标轴方向上定位出的轮廓边界线段与前述初始房间清洁分区的剩余轮廓边界线段相交是否没有形成预设房间清洁分区,若两者都满足,则返回步骤13继续在当前选择的坐标轴方向上的拓展;当步骤13所述的优先拓展的坐标轴方向上定位出的与步骤13删除的非墙体障碍物线段相邻的轮廓边界线段不是位于当前框定的预限定清洁区域内的所述未清扫区域时,停止在所述步骤13当前选择的坐标轴方向上的拓展,再返回所述步骤13以选择低一级的拓展优先级的坐标轴方向进行拓展,使得所述预限定清洁区域被相应的轮廓边界线段划分出预设房间清洁分区;其中,非墙体障碍物线段是属于轮廓边界线段但不代表墙体,围成所述预设房间清洁分区的轮廓边界线段与实际房间边界在预设误差允许范围内是重合的;其中,实际房间边界包括所述预设房间清洁分区内部的障碍物的边界和/或所述实际沿边区域内部的障碍物的边界。
- 根据权利要求1所述清洁分区规划方法,其特征在于,还包括:在机器人实时扫描构建的激光地图上,先以一个规划起点位置为中心框定一个所述预限定清洁区域,再在当前框定的所述预限定清洁区域内选定一个距离最近的物理边界的沿边起点位置,控制机器人从这个沿边起点位置开始沿着直线规划的路径向这个物理边界前进,直到机器人被配置为沿着这个物理边界作沿边行走;其中,这个物理边界包括预限定清洁区域内的障碍物的边界或墙体;所述规划起点位置是机器人在当前框定的所述预限定清洁区域内的启动位置。
- 根据权利要求2所述清洁分区规划方法,其特征在于,当检测到从当前框定的预限定清洁区域中划分出符合所述预设房间清洁分区时,控制机器人在划分出的所述预设房间清洁分区内继续沿边行走,等到机器人沿完这个预设房间清洁分区一圈并返回所述规划起点位置时,控制机器人开始对这个预设房间清洁分区进行规划式清扫;其中,这个预设房间清洁分区包围所述规划起点位置、机器人从所述规划起点位置到启动沿边的行走路径、以及机器人已行走过的沿边路径。
- 根据权利要求2所述清洁分区规划方法,其特征在于,在机器人沿边行走的过程中,当机器人划分出一个所述预设房间清洁分区时,如果判断到机器人已经沿边行走出所述沿边起点位置划分出的所述预设房间清洁分区,则控制机器人继续划分出新的所述预设房间清洁分区,再将这两个所述预设房间清洁分区合并,然后控制机器人在这两个合并的预设房间清洁分区内继续沿边行走,等到机器人沿完一圈并返回所述规划起点位置时,控制机器人开始对这两个合并的预设房间清洁分区进行规划式清扫;其中,这两个合并的预设房间清洁分区包围所述规划起点位置、机器人从所述规划起点位置到启动沿边的行走路径、以及机器人已行走过的沿边路径。
- 根据权利要求3或4所述清洁分区规划方法,其特征在于,控制机器人在执行规划式清扫的过程中不跨出所述预设房间清洁分区,直到所述预设房间清洁分区都被规划式清扫路径覆盖,然后将机器人清扫覆盖的区域标记为已清扫区域,同时将机器人清扫覆盖的区域之外的已扫描区域标记为所述未清扫区域。
- 根据权利要求3或4所述清洁分区规划方法,其特征在于,所述预限定清洁区域是以所述规划起点位置为对角线交点的一个正方形方框区域,用于限制机器人沿边行走的范围,进而包围当前一次确定的所述预设房间清洁分区、或同一所述预限定清洁区域内合并的所述预设房间清洁分区;其中,所述预限定清洁区域的覆盖区域等效于正方形的实际物理区域,这个正方形的实际物理区域的边长与室内待清扫区域的尺寸相关。
- 根据权利要求6所述清洁分区规划方法,其特征在于,所述预设房间清洁分区的具体判断方法包括:当围成所述初始房间清洁分区的轮廓边界线段都不是非墙体障碍物线段,且所述初始房间清洁分区内部的孤立障碍物线段的长度小于墙体拟合数量值的像素点个数对应的线段长度与所述初始房间清洁分区的任一边长度的预设比值中相对小的数值时,确定所述初始房间清洁分区属于所述预设房间清洁分区;当围成所述初始房间清洁分区的其中一条所述轮廓边界线段是非墙体障碍物线段,或者,所述初始房间清洁分区内部的孤立障碍物线段的长度大于或等于墙体拟合数量值的像素点个数对应的线段长度,或所述初始房间清洁分区内部的孤立障碍物线段的长度大于或等于所述初始房间清洁分区的其中一边长度的预设比值时,确定所述初始房间清洁分区不属于所述预设房间清洁分区;其中,所述轮廓边界线段根据白色像素点的个数划分为非墙体障碍物线段和墙体障碍物线段,非墙体障碍物线段中的白色像素点的个数大于或等于预设门限值,而墙体障碍物线段的则小于预设门限值;其中,激光地图中还存在扫描出的孤立障碍物线段,所述孤立障碍物线段的长度只要大于或等于所述初始房间清洁分区的其中一边长度的预设误差比值和墙体拟合数量值的像素点个数对应的线段长度这两种线段长度的其中一个时,所述孤立障碍物线段被标记为所述墙体障碍物线段。
- 根据权利要求1或7所述清洁分区规划方法,其特征在于,所述步骤11的具体方法包括:在所述预限定清洁区域内,从所述规划起点位置开始统计当前构建的激光地图的图像像素点;每当沿着X轴方向统计到纵坐标相同的黑色像素点的个数超过预设边界门限值时,标记出这些纵坐标相同的黑色像素点的连接形成的所述轮廓边界线段,使得所述预限定清洁区域内沿X轴方向延伸的区域被对应的轮廓边界线段划分;每当沿着Y轴方向统计到横坐标相同的黑色像素点的个数超过预设边界门限值时,标记出这些横坐标相同的黑色像素点的连接形成的所述轮廓边界线段,使得所述预限定清洁区域内沿Y轴方向延伸的区域被对应的轮廓边界线段划分。
- 一种芯片,内置控制程序,其特征在于,所述控制程序用于控制移动机器人执行权利要求1至8中任一项所述清洁分区规划方法。
- 一种机器人,该机器人装配激光传感器,其特征在于,该机器人内置权利要求9所述的芯片,用于配置所述机器人在沿边行走过程中分割出所述预设房间清洁分区。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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EP20940180.1A EP3985469A4 (en) | 2020-06-12 | 2020-11-24 | METHOD OF PLANNING A CLEANING SUB-AREA FOR ROBOT MOVING ALONG AN EDGE, CHIP AND ROBOT |
JP2022539045A JP7462244B2 (ja) | 2020-06-12 | 2020-11-24 | ロボットの縁沿い走行中の清掃区画領域の計画方法、チップ及びロボット |
US17/627,697 US11914391B2 (en) | 2020-06-12 | 2020-11-24 | Cleaning partition planning method for robot walking along boundry, chip and robot |
KR1020227021759A KR20220107017A (ko) | 2020-06-12 | 2020-11-24 | 로봇이 엣지를 따라 워킹하는 청소 분할 영역 계획 방법, 칩 및 로봇 |
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CN202010537628.0 | 2020-06-12 | ||
CN202010537628.0A CN111857127B (zh) | 2020-06-12 | 2020-06-12 | 一种机器人沿边行走的清洁分区规划方法、芯片及机器人 |
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CN117193278A (zh) * | 2022-05-31 | 2023-12-08 | 深圳市普渡科技有限公司 | 动态沿边路径生成的方法、装置、计算机设备和存储介质 |
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CN111857127B (zh) * | 2020-06-12 | 2021-10-01 | 珠海市一微半导体有限公司 | 一种机器人沿边行走的清洁分区规划方法、芯片及机器人 |
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CN112561927B (zh) * | 2020-12-07 | 2024-03-12 | 深圳市愚公科技有限公司 | 图像区域划分方法、系统、电子设备及存储介质 |
CN112486182B (zh) * | 2020-12-08 | 2022-12-02 | 南通大学 | 一种实现未知环境地图构建与路径规划的扫地机器人及其使用方法 |
CN112631299B (zh) * | 2020-12-24 | 2023-09-26 | 南京苏美达智能技术有限公司 | 一种多区域多台割草机控制方法 |
CN113223019B (zh) * | 2021-05-21 | 2024-03-26 | 深圳乐居智能电子有限公司 | 一种清扫区域的分区方法、装置及清扫设备 |
CN113223020B (zh) * | 2021-05-21 | 2024-03-26 | 深圳乐居智能电子有限公司 | 一种清扫区域的分区方法、装置及清扫设备 |
CN115393372A (zh) * | 2021-05-25 | 2022-11-25 | 速感科技(北京)有限公司 | 地图分区方法、装置、自主移动设备和存储介质 |
CN113503877A (zh) * | 2021-06-22 | 2021-10-15 | 深圳拓邦股份有限公司 | 机器人分区地图建立方法、装置及机器人 |
CN116069005A (zh) * | 2021-10-29 | 2023-05-05 | 美智纵横科技有限责任公司 | 一种机器人沿边路径规划方法、装置、机器人及存储介质 |
CN117193277A (zh) * | 2022-05-30 | 2023-12-08 | 珠海一微半导体股份有限公司 | 基于地图区域轮廓的设置方法与机器人沿边结束控制方法 |
CN114995458A (zh) * | 2022-06-27 | 2022-09-02 | 苏州澜途科技有限公司 | 清洁机器人全覆盖实时路径规划方法及装置 |
CN115268468B (zh) * | 2022-09-27 | 2023-01-24 | 深圳市云鼠科技开发有限公司 | 清洁机器人的沿墙坐标修正方法、装置、设备以及介质 |
CN115500737B (zh) * | 2022-09-28 | 2023-10-17 | 云鲸智能(深圳)有限公司 | 一种地面介质探测方法、装置及清洁设备 |
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US11914391B2 (en) | 2024-02-27 |
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EP3985469A4 (en) | 2023-01-18 |
CN111857127B (zh) | 2021-10-01 |
KR20220107017A (ko) | 2022-08-01 |
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