CN108968815A - A kind of sweeping robot obstacle determines and along side running gear and method - Google Patents
A kind of sweeping robot obstacle determines and along side running gear and method Download PDFInfo
- Publication number
- CN108968815A CN108968815A CN201810705397.2A CN201810705397A CN108968815A CN 108968815 A CN108968815 A CN 108968815A CN 201810705397 A CN201810705397 A CN 201810705397A CN 108968815 A CN108968815 A CN 108968815A
- Authority
- CN
- China
- Prior art keywords
- sweeping robot
- obstacle
- depth camera
- along side
- low level
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
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
-
- 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/405—Machines using UV-lamps, IR-lamps, ultrasound or plasma cleaning
-
- 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
- A47L2601/00—Washing methods characterised by the use of a particular treatment
- A47L2601/14—Infrared
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Determine the present invention provides a kind of sweeping robot obstacle and along side running gear and method, including GPU processor module, depth camera head module, sonar contact apparatus module, infrared sensor module, further include the steps that the step of carrying out limit for height detection using three kinds of distance measuring sensors, walking along barrier rims.Sweeping robot obstacle of the invention determines and has the advantages that structure is simple and setting is reasonable along side running gear, sweeping robot obstacle of the invention determines and has operand small along side traveling method, it is high-efficient, obstacle and hole accuracy of judgement are conducive to the advantages of improving sweeping robot traveling efficiency and sweeping robot sweeping efficiency.
Description
Technical field
The present invention relates to robot traveling control fields, and in particular to a kind of sweeping robot obstacle determines and walks along side
Device and method.
Background technique
With the development of science and technology, artificial intelligence robot is increasingly used in all trades and professions, to substitute system
Labour.Robot needs avoiding obstacles during traveling, and currently used Obstacle Avoidance includes: detection
Robot is at a distance from barrier, and when the distance detected is less than pre-determined distance, control robot stops movement.Especially sweep
A kind of intelligent robot of the floor-washing robot as automated cleaning can mitigate the housework burden of people.But family in home environment
Have the furniture such as the difficult point, such as bed, sofa that covered region is cleaned as sweeping robot to suffer from ground in the presence of height
Poor (hole), and this highly with the whole height of current sweeper very close to, in addition the panel of existing sweeper it is general in
Between protrusion, cause in some cases sweeper drilling sofa under and block, or by raised support rise can not advance the phenomenon that
Occur, thus a kind of robot how to carry out protrusion, furniture, metope etc. can not by obstacle identification judge and cognitive disorders after,
How to walk along barrier rims, device assistant officer's generation research without touching obstacle.
Summary of the invention
To solve the above problems, determining the present invention provides a kind of sweeping robot obstacle and along side running gear.This hair
Bright sweeping robot obstacle determines and has the advantages that structure is simple and setting is reasonable along side running gear, and of the invention sweeps the floor
Robot barrier determines and has operand small along side traveling method, and high-efficient, obstacle and hole accuracy of judgement are conducive to improve
The advantages of sweeping robot traveling efficiency and sweeping robot sweeping efficiency.
To realize the technical purpose, the technical scheme is that a kind of sweeping robot obstacle determines and along side row
Walking apparatus, including infrared sensor module, GPU processor module,
The infrared sensor module includes two infrared sensors and its infrared driver circuit and infrared signal processing electricity
Road, wherein infrared signal processing circuit is electrically connected to the I/O mouth of the GPU processor module, and two infrared sensors are set to
Sweeping robot side.
It further, further include depth camera head module, sonar contact apparatus module；
Depth camera head module includes at depth camera and its depth camera head drive circuit and depth camera signal
Circuit is managed, wherein depth camera signal processing circuit is electrically connected to the I/O mouth of the GPU processor module；
Sonar contact apparatus module includes sonar contact device and its sonar contact driving circuit and Signal processing of sonar electricity
Road, wherein Signal processing of sonar circuit is electrically connected to the I/O mouth of the GPU processor module.
Further, on sweeping robot, the position of the depth camera is higher than the sonar detection device and uses respectively
In high-order and low level ranging.
A kind of sweeping robot obstacle determines and along side traveling method, comprising the following steps:
S1: for sweeping robot forward in walking process, two infrared sensors of sweeping robot side carry out obstacle
Ranging, until carrying out step S2 after single or two infrared sensors return to the distance signal less than L1；
S2: control sweeping robot rotation, until after single or two infrared sensors return to the distance signal less than L2,
Carry out step S3；And L1 > L2；
S3: sweeping robot carries out PID adjusting, so that controlling after two infrared sensors return to the distance signal of L2
Sweeping robot is walked forward, and constantly carries out step S2.
Preferably, the L1 value is 10cm, and L2 value is 5cm.
Further, further comprising the steps of:
P1: high-order ranging is carried out to environment in front of sweeping robot using depth camera, utilizes sonar detection device pair
Environment carries out low level ranging in front of sweeping robot, completes non-collision scanning；
P2: judging high-order and low level obstacle in sweeping robot direction of advance respectively, if barrier is not present in high-order and low level
Hinder, carry out step P3, if a high position there are obstacle and low level is there is no carrying out step P4 if obstacle, if low level there are obstacle into
Row step S1；
P3: sweeping robot maintains current route constant, and the high-low-position obstacle for repeating step P1 and P2 is sentenced
Determine step；
P4: sweeping robot carries out limit for height detection, judges whether high-order obstacle is higher than sweeping robot height, influences to sweep the floor
Robot advances, and step S1 is carried out if influencing, if not influencing to carry out step P1.
Further,
High-order ranging is carried out to environment in front of sweeping robot using depth camera in the step P1, judges high-order m
It whether there is obstacle in centimetre, meanwhile, low level ranging, judgement are carried out to environment in front of sweeping robot using sonar detection device
It whether there is obstacle, and n < m in n centimetres of low level；
In the step P2, the step P3 is carried out if obstacle is not present in m centimetres and n centimetres of low level of a high position, if high
There are obstacle is not present in obstacle, n centimetres of low level then to carry out the step P4 in m centimetres of position, if there are obstacles in n centimetres of low level
Then carry out the step S1.
Further, in the step P4, sweeping robot obstacle determine and along side walking limit for height detection method include with
Lower step:
T1: so that depth camera is worked in the capture of standard static pixel screen, it is quiet in standard to calculate sweeping robot apical margin
Shared pixel coverage in state pixel screen；
T2: using the depth information in pixel coverage in depth camera scanning step T1, if depth is small in pixel coverage
Then judge that the height of high-order obstacle is less than sweeping robot height in m centimetres, and carry out the step S1, otherwise carries out step
T3；
T3: depth camera pixel coverage from T1 scans downwards, if finding in scanning process, depth is less than m centimetres of barrier
Hinder, then judge that the height of high-order obstacle is less than sweeping robot height, otherwise judges that the height of high-order obstacle is greater than machine of sweeping the floor
People's height simultaneously carries out the step P3.
Further, by taking the depth camera of 480*640 resolution ratio as an example, in the step T1, depth camera is worked in
480*640 static pixels picture catching, sweeping robot apical margin pixel coverage shared by the m centimeters of front are 160-170 row；Institute
Depth camera in step T3 is stated to scan downwards from 160-170 row pixel coverage.
Preferably, further include the steps that hole marks: sweeping robot obstacle determines and walks along side in the step P4
In step, while judging that high-order obstacle is higher than sweeping robot height and carries out step S3, it is demarcated as hole.
Further, sweeping robot is marked according to history hole, is advanced from trend hole.
The beneficial effects of the present invention are:
The sonar contact device of high-order depth camera and low level is respectively set in sweeping robot of the invention up and down,
A high position can be measured at a distance judge whether to carry out high-order detection after, then judge whether the low level of short distance allows to pass through, greatly
Collision probability is reduced greatly, it is ensured that the accuracy at hole and obstacle judgement, meanwhile, the present invention utilizes three kinds of distance measuring sensors,
It allows three to cooperate, carries out high-order ranging, limit for height detection, low level ranging three successively according to timing, substantially reduce
Operand, improves sweeping robot traveling efficiency and sweeping robot sweeping efficiency.
To sum up, sweeping robot obstacle of the invention determines and has structure simple along side running gear and be arranged reasonable
Advantage, sweeping robot obstacle of the invention determines and along side traveling method, has operand small, high-efficient, obstacle and hole
Accuracy of judgement is conducive to the advantages of improving sweeping robot traveling efficiency and sweeping robot sweeping efficiency.
Detailed description of the invention
Fig. 1 is that sweeping robot obstacle of the present invention determines and along the module map of side running gear；
Fig. 2 is one of the position of two infrared sensors of the invention on sweeping robot；
Fig. 3 is the two of the position of two infrared sensors of the invention on sweeping robot；
Fig. 4 is that sweeping robot obstacle of the present invention determines and along the flow chart of side traveling method；
Fig. 5 is that sweeping robot obstacle of the present invention determines and along side traveling method position view；
Fig. 6 is the method schematic diagram of limit for height detection of the present invention.
Specific embodiment
Technical solution of the present invention will be clearly and completely described below.As shown in Figure 1, a kind of sweeping robot
Obstacle determines and along side running gear, including GPU processor module, depth camera head module, sonar contact apparatus module；
The depth camera head module includes depth camera 3 and its depth camera head drive circuit and depth camera
Signal processing circuit, wherein depth camera signal processing circuit is electrically connected to the I/O mouth of the GPU processor module；
The sonar contact apparatus module includes at sonar contact device and its sonar contact driving circuit and Sonar Signal
Circuit is managed, wherein Signal processing of sonar circuit is electrically connected to the I/O mouth of the GPU processor module.
Further, on sweeping robot, the position of the depth camera is higher than the sonar detection device and uses respectively
In high-order and low level ranging.The present invention utilizes the performance characteristics of depth camera and sonar detection device, respectively in machine of sweeping the floor
People carries out high-order and low level ranging up and down, and by GPU progress data processing, and further fast accurate detects obstacle, complete
Determine at sweeping robot obstacle and walks along side.
It further, further include infrared sensor module,
Infrared sensor module includes two infrared sensors 2 and its infrared driver circuit and infrared signal processing circuit,
Wherein infrared signal processing circuit is electrically connected to the I/O mouth of the GPU processor module, and two infrared sensors are set to and sweep the floor
Robot side.The sweeping robot 1 of two kinds of shapes as shown in Figures 2 and 3,2 Relatively centralized of infrared sensor and horizontal direction
On be symmetrical set in sweeping robot side.
A kind of sweeping robot obstacle determines and along side traveling method, as shown in Figure 4, comprising the following steps:
P1: high-order ranging is carried out to environment in front of sweeping robot using depth camera, utilizes sonar detection device pair
Environment carries out low level ranging in front of sweeping robot, completes non-collision scanning；
P2: judging high-order and low level obstacle in sweeping robot direction of advance respectively, if barrier is not present in high-order and low level
Hinder, carry out step P3, if a high position there are obstacle and low level is there is no carrying out step P4 if obstacle, if low level there are obstacle into
Row step S1；
P3: sweeping robot maintains current route constant, and the high-low-position obstacle for repeating step P1 and P2 is sentenced
Determine step；
P4: sweeping robot carries out limit for height detection, judges whether high-order obstacle is higher than sweeping robot height, influences to sweep the floor
Robot advances, and step S1 is carried out if influencing, if not influencing to carry out step P3；
S1: the walking of sweeping robot obstacle edge, and repeat the high-low-position obstacle determination step of step P1 and P2.
That is, low level obstacle if it exists, then directly judge that robot can not pass through, can need to carry out limit for height if if low level
Detection, the present invention utilize two distance measuring sensors of depth camera and sonar detection device, carry out high-low-position ranging respectively, and make
Two distance measuring sensors cooperate, and complete the judgement of obstacle or hole (detect and realize by limit for height), further driving is swept the floor
Robot barrier rims advance or to advancing inside hole.
Preferably, as shown in figure 4, carrying out height to environment in front of sweeping robot using depth camera in the step P1
Position ranging judges in high-order m centimetres with the presence or absence of obstacle, meanwhile, using sonar detection device to environment in front of sweeping robot
Low level ranging is carried out, is judged with the presence or absence of obstacle in n centimetres of low level, and n < m, preferred m value are that 50, n value is 20；
In the step P2, the step P3 is carried out if obstacle is not present in high position 50cm and low level 20cm, if high-order
Then carry out the step P4 there is no obstacle there are obstacle, in low level 20cm in 50cm, if in low level 20cm there are obstacle if into
The row step S1.Using this preferred embodiment, technology above content, the beneficial effect is that, a high position can be remote
It measures after judging whether to carry out high-order detection, then judges whether the low level of short distance allows to pass through, it is general to greatly reduce collision
Rate, it is ensured that the accuracy that hole and obstacle determine, meanwhile, high-order ranging, limit for height detection, low level ranging three successively according to when
Sequence carries out, and greatly reduces operand, improves sweeping robot traveling efficiency.
Further, sweeping robot obstacle determine and along side walking limit for height detection method the following steps are included:
T1: so that depth camera is worked in the capture of standard static pixel screen, it is quiet in standard to calculate sweeping robot apical margin
Shared pixel coverage in state pixel screen；
T2: using the depth information in pixel coverage in depth camera scanning step T1, if depth is small in pixel coverage
Then judge that the height of high-order obstacle is less than sweeping robot height in 50cm, and carry out the step S1, otherwise carries out step T3；
T3: depth camera pixel coverage from T1 scans downwards, if finding in scanning process, depth is less than the barrier of 50cm
Hinder, then judges that the height of high-order obstacle is less than sweeping robot height and carries out the step S1, otherwise judge high-order obstacle
Height is greater than sweeping robot height and carries out the step P3.That is, the present invention is calculated and is swept the floor by comparison calculation
In front of robot at 50cm, in the picture that depth camera captures, corresponding machine apical margin pixel coverage of sweeping the floor, in this pixel
The depth information that each row pixel is obtained below range judges that front stops sweeping robot with the presence or absence of obstacle and advances forward.It needs
To illustrate that standard static pixel refers to that it is captured out always for the depth camera of a 480*640 resolution ratio
The picture of 480*640 pixel.
As a kind of preferred embodiment of the invention, it is based on above content, unlike, as shown in figure 5, with 480*
For the depth camera of 640 resolution ratio, in the step T1, depth camera works in 480*640 static pixels picture and catches
It catches, sweeping robot apical margin accounted for pixel coverage at the 50cm of front is 160-170 row 4；Depth camera in the step T3
It is scanned downwards from 160-170 row pixel coverage.Since the data volume for carrying out depth scan to each row pixel is big, therefore the present invention uses
The method that high-order and low level ranging combines, the detection of reduction limit for height is as far as possible come when reducing the walking of sweeping robot obstacle edge
Operand, to improve the speed of travel and efficiency.
Further, in the step S1 sweeping robot obstacle edge walk method the following steps are included:
E1: for sweeping robot forward in walking process, two infrared sensors of sweeping robot side carry out obstacle
Ranging, until carrying out step E2 after single or two infrared sensors return to the distance signal less than 10cm；
E2: control sweeping robot rotation, until single or two infrared sensors return to the distance signal for being less than 5cm
Afterwards, step E3 is carried out；Single wheel rotation under sweeping robot can be specifically driven, the rotation of entire sweeping robot is completed
Movement.
E3: sweeping robot carries out PID adjusting, so that controlling after two infrared sensors return to the distance signal of 5cm
Sweeping robot is walked forward, and constantly carries out step E2.The present invention uses the ranging of two infrared sensors, so that robot
After being moved within the scope of obstacle 10cm, by PID closed loop control algorithm, sweeping robot posture is adjusted, until two infrared biographies
After sensor returns to the distance signal of 5cm, determine sweeping robot it is parallel with obstacle after, realize sweeping robot along side row
It walks.
As a kind of preferred embodiment of the invention, it is based on above content, unlike, it further include what hole marked
Step: in the step T3, while judgement is able to carry out step P3, calibration current location is hole.
Further, sweeping robot is marked according to history hole, is advanced from trend hole.The present invention passes through the mark to hole
Note, when so that next sweeping robot needing this position to be swept, without carrying out limit for height detection, high-low-position ranging etc. again,
Substantially increase the working efficiency of sweeping robot.
For those of ordinary skill in the art, without departing from the concept of the premise of the invention, it can also do
Several modifications and improvements out, these are all within the scope of protection of the present invention.
Claims (10)
1. a kind of sweeping robot obstacle determines and along side running gear, which is characterized in that including infrared sensor module, GPU
Processor module,
The infrared sensor module includes two infrared sensors and its infrared driver circuit and infrared signal processing circuit,
Wherein infrared signal processing circuit is electrically connected to the I/O mouth of the GPU processor module, and two infrared sensors are set to and sweep the floor
Robot side.
2. sweeping robot obstacle according to claim 1 determines and along side running gear, which is characterized in that further include depth
Spend camera module, sonar contact apparatus module；
Depth camera head module includes depth camera and its depth camera head drive circuit and depth camera signal processing electricity
Road, wherein depth camera signal processing circuit is electrically connected to the I/O mouth of the GPU processor module；
Sonar contact apparatus module includes sonar contact device and its sonar contact driving circuit and sonar signal processing circuit,
Wherein Signal processing of sonar circuit is electrically connected to the I/O mouth of the GPU processor module.
3. sweeping robot obstacle according to claim 1 determines and along side running gear, which is characterized in that in sweeper
On device people, the position of the depth camera is higher than the sonar detection device and is respectively used to high-order and low level ranging.
4. a kind of sweeping robot obstacle determines and along side traveling method, which comprises the following steps:
S1: for sweeping robot forward in walking process, two infrared sensors of sweeping robot side carry out ranging to obstacle,
Until carrying out step S2 after single or two infrared sensors return to the distance signal less than L1；
S2: control sweeping robot rotation, until being carried out after single or two infrared sensors return to the distance signal less than L2
Step S3, and L1 > L2；
S3: sweeping robot carries out PID adjusting, so that control is swept the floor after two infrared sensors return to the distance signal of L2
Robot walks forward, and constantly carries out step S2.
5. a kind of sweeping robot obstacle determines and along side traveling method, which is characterized in that the L1 value is 10cm, L2 value
For 5cm.
6. sweeping robot obstacle according to claim 4 determines and along side traveling method, which is characterized in that further include with
Lower step:
P1: carrying out high-order ranging to environment in front of sweeping robot using depth camera, using sonar detection device to sweeping the floor
Environment carries out low level ranging in front of robot, completes non-collision scanning；
P2: high-order and low level obstacle in sweeping robot direction of advance is judged respectively, if obstacle is not present in high-order and low level
Step P3 is carried out, step P4 is carried out there are obstacle and if obstacle is not present in low level if a high position, if there are obstacles to be walked for low level
Rapid S1；
P3: sweeping robot maintains current route constant, and the high-low-position obstacle for repeating step P1 and P2 determines step
Suddenly；
P4: sweeping robot carries out limit for height detection, judges whether high-order obstacle is higher than sweeping robot height, influences machine of sweeping the floor
People advances, and step S1 is carried out if influencing, if not influencing to carry out step P1.
7. sweeping robot obstacle according to claim 6 determines and along side traveling method, which is characterized in that
High-order ranging is carried out to environment in front of sweeping robot using depth camera in the step P1, judges high-order m centimetres
It is interior to whether there is obstacle, meanwhile, low level ranging is carried out to environment in front of sweeping robot using sonar detection device, judges low level
It whether there is obstacle in n centimetres；
In the step P2, the step P3 is carried out if obstacle is not present in m centimetres and n centimetres of low level of a high position, if m lis high-order
Rice in there are in obstacle, n centimetres of low level be not present obstacle then carry out the step P4, if in n centimetres of low level there are obstacle if into
The row step S1, and n < m.
8. sweeping robot obstacle according to claim 4 determines and along side traveling method, which is characterized in that the step
In P4, sweeping robot obstacle determine and along side walking limit for height detection method the following steps are included:
T1: making depth camera work in the capture of standard static pixel screen, calculates sweeping robot apical margin in standard static picture
Shared pixel coverage in plain picture；
T2: using the depth information in pixel coverage in depth camera scanning step T1, if depth is less than m lis in pixel coverage
Rice then judges that the height of high-order obstacle is less than sweeping robot height, and carries out the step S1, otherwise carries out step T3；
T3: depth camera pixel coverage from T1 scans downwards, if finding in scanning process, depth is less than m centimetres of obstacle,
Then judge that the height of high-order obstacle is less than sweeping robot height, it is high otherwise to judge that the height of high-order obstacle is greater than sweeping robot
It spends and carries out the step P3.
9. sweeping robot obstacle according to claim 7 determines and along side traveling method, which is characterized in that with 480*
For the depth camera of 640 resolution ratio, in the step T1, depth camera works in 480*640 static pixels picture and catches
It catches, sweeping robot apical margin pixel coverage shared by the m centimeters of front is 160-170 row；Depth camera in the step T3
It is scanned downwards from 160-170 row pixel coverage.
10. sweeping robot obstacle according to claim 4 determines and along side traveling method, which is characterized in that further include
The step of hole marks: sweeping robot obstacle determines and along side walking step in the step P4, judges that high-order obstacle is high
In sweeping robot height and while carry out step S3, it is demarcated as hole, sweeping robot is marked according to history hole, automatically
It advances to hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810705397.2A CN108968815A (en) | 2018-06-29 | 2018-06-29 | A kind of sweeping robot obstacle determines and along side running gear and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810705397.2A CN108968815A (en) | 2018-06-29 | 2018-06-29 | A kind of sweeping robot obstacle determines and along side running gear and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108968815A true CN108968815A (en) | 2018-12-11 |
Family
ID=64539206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810705397.2A Pending CN108968815A (en) | 2018-06-29 | 2018-06-29 | A kind of sweeping robot obstacle determines and along side running gear and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108968815A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109917788A (en) * | 2019-03-13 | 2019-06-21 | 深圳乐动机器人有限公司 | A kind of control method and device of Robot wall walking |
| CN110477820A (en) * | 2019-08-16 | 2019-11-22 | 云鲸智能科技（东莞）有限公司 | Clean robot along barrier clean method, clean robot and storage medium |
| CN110908378A (en) * | 2019-11-28 | 2020-03-24 | 深圳乐动机器人有限公司 | Robot edge method and robot |
| CN111053500A (en) * | 2020-01-02 | 2020-04-24 | 小狗电器互联网科技（北京）股份有限公司 | Method and device for controlling sweeping equipment to sweep along wall and sweeping equipment |
| CN111248814A (en) * | 2020-01-16 | 2020-06-09 | 湖南格兰博智能科技有限责任公司 | Wall-following motion control method for floor sweeping robot |
| CN112205929A (en) * | 2020-09-08 | 2021-01-12 | 深圳乐动机器人有限公司 | Robot cleaning method and device, robot and storage medium |
| CN113189993A (en) * | 2021-04-27 | 2021-07-30 | 北京石头世纪科技股份有限公司 | Self-walking equipment obstacle avoidance method, device, medium and electronic equipment |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101276223A (en) * | 2007-03-28 | 2008-10-01 | 松下电器产业株式会社 | Autonomous driving apparatus and executing program thereof |
| CN204695100U (en) * | 2015-05-20 | 2015-10-07 | 深圳市锐曼智能装备有限公司 | The avoidance obstacle device that robot depth camera is combined with ultrasound wave |
| US20150331425A1 (en) * | 2014-05-14 | 2015-11-19 | Swissray Asia Healthcare Co., Ltd. | Environment recognition guide system for movable medical equipment and method |
| CN105559694A (en) * | 2014-10-10 | 2016-05-11 | 莱克电气股份有限公司 | Robot dust collector |
| CN106096559A (en) * | 2016-06-16 | 2016-11-09 | 深圳零度智能机器人科技有限公司 | Obstacle detection method and system and moving object |
| CN106455883A (en) * | 2014-05-08 | 2017-02-22 | 阿尔弗雷德·凯驰两合公司 | Self-propelled and self-steering floor cleaning device and method for cleaning floor surface |
| CN206170091U (en) * | 2016-10-27 | 2017-05-17 | 上海思岚科技有限公司 | Mobile robot platform |
| CN106950966A (en) * | 2017-04-28 | 2017-07-14 | 湖南格兰博智能科技有限责任公司 | Translation control device |
| CN206960660U (en) * | 2016-12-08 | 2018-02-02 | 广东大仓机器人科技有限公司 | The robot of near-field scan is realized using infrared distance measurement array |
-
2018
- 2018-06-29 CN CN201810705397.2A patent/CN108968815A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101276223A (en) * | 2007-03-28 | 2008-10-01 | 松下电器产业株式会社 | Autonomous driving apparatus and executing program thereof |
| CN106455883A (en) * | 2014-05-08 | 2017-02-22 | 阿尔弗雷德·凯驰两合公司 | Self-propelled and self-steering floor cleaning device and method for cleaning floor surface |
| US20150331425A1 (en) * | 2014-05-14 | 2015-11-19 | Swissray Asia Healthcare Co., Ltd. | Environment recognition guide system for movable medical equipment and method |
| CN105559694A (en) * | 2014-10-10 | 2016-05-11 | 莱克电气股份有限公司 | Robot dust collector |
| CN204695100U (en) * | 2015-05-20 | 2015-10-07 | 深圳市锐曼智能装备有限公司 | The avoidance obstacle device that robot depth camera is combined with ultrasound wave |
| CN106096559A (en) * | 2016-06-16 | 2016-11-09 | 深圳零度智能机器人科技有限公司 | Obstacle detection method and system and moving object |
| CN206170091U (en) * | 2016-10-27 | 2017-05-17 | 上海思岚科技有限公司 | Mobile robot platform |
| CN206960660U (en) * | 2016-12-08 | 2018-02-02 | 广东大仓机器人科技有限公司 | The robot of near-field scan is realized using infrared distance measurement array |
| CN106950966A (en) * | 2017-04-28 | 2017-07-14 | 湖南格兰博智能科技有限责任公司 | Translation control device |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109917788A (en) * | 2019-03-13 | 2019-06-21 | 深圳乐动机器人有限公司 | A kind of control method and device of Robot wall walking |
| CN110477820A (en) * | 2019-08-16 | 2019-11-22 | 云鲸智能科技（东莞）有限公司 | Clean robot along barrier clean method, clean robot and storage medium |
| CN110477820B (en) * | 2019-08-16 | 2021-11-16 | 云鲸智能科技（东莞）有限公司 | Obstacle following cleaning method for cleaning robot, and storage medium |
| CN110908378A (en) * | 2019-11-28 | 2020-03-24 | 深圳乐动机器人有限公司 | Robot edge method and robot |
| CN111053500A (en) * | 2020-01-02 | 2020-04-24 | 小狗电器互联网科技（北京）股份有限公司 | Method and device for controlling sweeping equipment to sweep along wall and sweeping equipment |
| CN111053500B (en) * | 2020-01-02 | 2022-06-10 | 小狗电器互联网科技（北京）股份有限公司 | Method and device for controlling sweeping equipment to sweep along wall and sweeping equipment |
| CN111248814A (en) * | 2020-01-16 | 2020-06-09 | 湖南格兰博智能科技有限责任公司 | Wall-following motion control method for floor sweeping robot |
| CN111248814B (en) * | 2020-01-16 | 2021-07-13 | 湖南格兰博智能科技有限责任公司 | Wall-following motion control method for floor sweeping robot |
| CN112205929A (en) * | 2020-09-08 | 2021-01-12 | 深圳乐动机器人有限公司 | Robot cleaning method and device, robot and storage medium |
| CN113189993A (en) * | 2021-04-27 | 2021-07-30 | 北京石头世纪科技股份有限公司 | Self-walking equipment obstacle avoidance method, device, medium and electronic equipment |
| CN113189993B (en) * | 2021-04-27 | 2023-08-29 | 北京石头创新科技有限公司 | Obstacle avoidance method and device for self-walking equipment, medium and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108968815A (en) | A kind of sweeping robot obstacle determines and along side running gear and method | |
| CN107569181B (en) | Intelligent cleaning robot and cleaning method | |
| CN108784540A (en) | A kind of sweeping robot automatic obstacle-avoiding moving device and mode of progression | |
| CN109316127A (en) | A kind of sweeping robot hole detection device and zone of ignorance heuristic approach | |
| CN112004645B (en) | Intelligent cleaning robot | |
| CN111035327B (en) | Cleaning robot, carpet detection method, and computer-readable storage medium | |
| Taylor et al. | A real-time approach to stereopsis and lane-finding | |
| CN105425801B (en) | Intelligent cleaning robot and its clean method based on advanced Path Planning Technique | |
| CN111212588B (en) | Self-propelled sweeper | |
| CN111552764B (en) | Parking space detection method, device, system, robot and storage medium | |
| CN109797691B (en) | Unmanned sweeper and driving method thereof | |
| CN106227212B (en) | The controllable indoor navigation system of precision and method based on grating map and dynamic calibration | |
| CN207164586U (en) | A kind of sweeping robot navigation system | |
| CN106592499B (en) | A kind of clear snow robot and its clear snow method | |
| CN106821157A (en) | The cleaning method that a kind of sweeping robot is swept the floor | |
| CN107357297A (en) | A kind of sweeping robot navigation system and its air navigation aid | |
| WO2015024407A1 (en) | Power robot based binocular vision navigation system and method based on | |
| CN107713913A (en) | Robot recognizes and the method for processing pet dung | |
| CN108852184A (en) | A kind of non-blind area sweeping robot and its cleaning control method based on deep learning algorithm | |
| CN106125087A (en) | Dancing Robot indoor based on laser radar pedestrian tracting method | |
| CN212313502U (en) | Walking unmanned car washing equipment | |
| WO2018228254A1 (en) | Mobile electronic device and method for use in mobile electronic device | |
| CN111700544A (en) | Anti-collision control system and control method of intelligent cleaning robot | |
| CN111547015A (en) | Walking unmanned car washing equipment | |
| CN108814442A (en) | A kind of sweeping robot hole limit for height detection device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181211 |