2825results about "Automatic obstacle detection" patented technology

A mobile computing device includes a user input device and a controller. The user input device includes a display, and the controller is operably connected to the user input device and configured to execute instructions to perform operations. The operations include presenting on the display, information about one or more areas that were not cleaned by an autonomous cleaning robot during a first mission. The operations further include transmitting data corresponding to a user-selected subset of the one or more areas to cause the robot to clean the user-selected subset during a second mission.

A method and apparatus are disclosed for a clutter tidying robot utilizing floor segmentation for its mapping and navigation system, whereby a perception module and navigation module transform lidar and image data from lidar sensors and cameras of a robot sensing system using segmentation and pseudo-laserscan or point cloud transformations to generate global and local maps. The robot pose and maps are transmitted to a robot brain that directs an action module to produce robot action commands controlling the operation of a clutter tidying robot using the pose and map data. In this manner multi-stage planning and sophisticated obstacle avoidance techniques may be incorporated into autonomous robot operations.

Systems, methods, and computer program products for a robotic cleaner with an extendable cleaning surface are provided. An example robotic cleaning system may include a robotic cleaner having a housing and a cleaning pad movably attached to the housing. The cleaning pad may be movable to extend at least a portion of the cleaning pad beyond an edge of the housing.

A method for operating a robot, including: capturing images of a workspace; capturing data indicative of movement of the robot; capturing LIDAR data as the robot moves within the workspace; generating a map of the workspace based on the LIDAR data; actuating the robot to drive; discriminating between an object on a floor surface along a path of the robot and the floor surface based on the captured images; actuating the robot to drive until determining all areas of the workspace are discovered and included in the map; and executing a cleaning function.

An automatic cleaning apparatus and system having a dust-collection function. The automatic cleaning apparatus comprises: a mobile platform containing an accommodating chamber, the mobile platform being configured to automatically move along an operating surface; and a cleaning module comprising of a dust box and a main brush module, wherein the dust box is detachably assembled in the accommodating chamber, and comprises a first air inlet door and a second air inlet door, and the first air inlet door and the second air inlet door are located on a first sidewall and a second sidewall of the dust box, respectively, and are configured to provide intake airflows in different directions during dust collection.

Disclosed is a method and tidying robot system that performs it. A robot of a tidying robot system receives a starting location, a target cleaning area, and obstructions in its path navigating the target cleaning area. It determines a tidying strategy including vacuuming and obstruction handling. It executes the tidying strategy, vacuuming the target cleaning area and moving and / or avoiding obstructions, which are tidyable and / or movable objects. Where the obstruction may be picked up, the robot determines and executes a pickup strategy. Where the obstruction may be relocated but not picked up, it pushes the obstruction to a different location. Where the obstruction cannot be relocated / picked up, it alters its path to avoid the obstruction. The robot determines if the dirt collector is full, and if so, navigates to a base station configured to charge the robot and empty the dirt collector. Otherwise, it continues to execute the tidying strategy.

A cleaning robot cleans a cleaning region and has a housing, a drive unit for driving the cleaning robot in the cleaning region, a floor cleaning unit for cleaning a floor surface of the cleaning region, and a robot arm for moving objects and / or for cleaning a surface that is raised with respect to the floor surface. The robot arm is arranged on a housing front of the housing in a resting position. The clean robot further has a control unit for controlling the drive unit, the floor cleaning unit and the robot arm. The robot arm forms a bumper in the resting position.

Provided is an automatic cleaning device, including: a moving platform including an accommodation chamber; and a position determination apparatus, at least a part of the position determination apparatus provided in the accommodation chamber; a circuit board provided in the moving platform and disposed adjacent to the accommodation chamber; and a water retaining frame provided between the circuit board and the accommodation chamber so as to prevent liquid from flowing into the circuit board.

The invention relates to the technical field of cleaning equipment, in particular to cleaning equipment and a lifting obstacle crossing method thereof.The cleaning equipment comprises a machine body, and a bottom shell is arranged at the bottom of the machine body; the driving assembly is used for driving the machine body to move and floatably arranged at the bottom of the machine body; the universal assembly comprises a universal wheel and a bracket; the driving lifting assembly acts on the support so as to drive the universal wheels to move by a first preset height in the vertical direction relative to the machine body; in the advancing direction of the machine body, the bottom shell comprises a driving front end and a driving rear end corresponding to the driving assembly, and the bottom shell can move by a second preset height and a third preset height in the vertical direction. The second preset height is between the first preset height and the third preset height, so that the machine body is in an inclined state with high front and low rear in the advancing direction; the invention further provides a lifting obstacle crossing method. The obstacle crossing robot can achieve efficient, stable and rapid obstacle crossing of cleaning equipment, and has the advantages of being high in maximum obstacle crossing height, high in obstacle passing rate, high in obstacle crossing stability, small in damage to a machine body in the obstacle crossing process, low in cost and the like.

A method for operating a robot, including: capturing images of a workspace; capturing data indicative of movement of the robot; capturing LIDAR data as the robot moves within the workspace; generating a map of the workspace based on the LIDAR data; actuating the robot to drive; discriminating between an object on a floor surface along a path of the robot and the floor surface based on the captured images; actuating the robot to drive until determining all areas of the workspace are discovered and included in the map; and executing a cleaning function.

The embodiment of the invention provides a cleaning assembly replacement base station, and the base station comprises a cleaning assembly carrying unit which is used for carrying a cleaning assembly dismounted from cleaning equipment, and carrying a cleaning assembly to be mounted of the cleaning equipment; the cleaning assembly storage unit is used for storing the detached cleaning assembly and storing the cleaning assembly to be installed; and the cleaning assembly conveying mechanism is used for conveying the detached cleaning assembly from the bearing unit to the storage unit and conveying the cleaning assembly to be installed from the storage unit to the bearing unit.

The invention relates to the technical field of path planning, and discloses a robot mechanical arm path planning method and system for curtain wall cleaning. According to the method, collected data are fused through a depth camera, a laser radar and an inertial measurement unit, a dynamic environment topological map is constructed, and accurate environment perception is achieved. A self-adaptive grid method and an improved spiral traversal algorithm are adopted, a global traversal path covering a cleaning area is generated, the joint motion trail of the mechanical arm is optimized in a layered mode, and motion accuracy and stability are ensured. And meanwhile, the dynamic control module monitors obstacles in real time, the joint track is adjusted online through local track re-planning, it is guaranteed that cleaning operation is safe and continuous, the cleaning pressure is adjusted in real time, and it is guaranteed that the cleaning quality is stable and consistent.

The invention discloses a control method and equipment of a cleaning robot and a program product, and relates to the technical field of intelligent cleaning robots. According to the control method of the cleaning robot, an inspection path is determined based on setting information received by input equipment, then an inspection task is executed based on the inspection path, if a dirty area is detected in the execution process of the inspection task, the inspection task is interrupted, a cleaning task is started based on position information of the dirty area, and when execution of the cleaning task is finished, the cleaning robot is started. And recovering the inspection task. According to the method, automatic inspection can be carried out in the large commercial scene, the cleaning task is executed in a targeted mode on the dirty area according to the inspection result, a large amount of time is not needed to clean the whole space, the cleaning time of the large commercial scene is shortened, and therefore the cleaning efficiency is improved.

Cleaning robot, characterized by the fact that it includes: a machine body, the bottom of which is provided with a drive wheel and a universal wheel assembly, wherein the universal wheel assembly is arranged near a front end of the machine body in a forward direction of the machine body; an obstacle overcoming mechanism that is movably connected to the machine body, wherein the obstacle overcoming mechanism is configured such that that he can lift the front end of the machine body to at least separate the universal wheel assembly from a cleaning surface; the universal wheel assembly comprises a mounting seat and a universal wheel on the mounting seat; a chassis of the machine body has a boundary cavity, wherein the boundary cavity has a fixed height in a vertical direction of the machine body and has an upper wall and a lower wall; the mounting base is embedded in the boundary cavity; and at least one elastic element, one end of which is located on the upper wall and the other end of which is located on the mounting base; wherein, in a non-falling state, the mounting seat of the universal wheel assembly rests against the bottom wall under the influence of a compression amount of the second elastic element, wherein a spring force generated by the compression amount is greater than or equal to a gravitational force acting from the machine body on the universal wheel assembly; wherein a floating play exists between the mounting seat and the cover wall, and wherein the mounting seat presses the second elastic element to float against the cover wall under the influence of an impact force from the cleaning surface when falling, when the universal wheel assembly is in the falling state.

The invention discloses an intelligent navigation system of a sweeping robot, which relates to the technical field of household intelligent equipment and comprises a multi-source sensor array, a dynamic environment modeling module, a path planning engine, a multi-mode positioning module, an autonomous decision controller, a cloud collaborative optimization unit and a fault degradation processing module. Omnibearing environment perception is provided through a multi-source sensor array, data are fused in real time through a dynamic environment modeling module, a grid map is updated in an incremental mode, obstacle semantic information is marked, an improved A * algorithm and a dynamic window method are fused through a path planning engine, and an optimized path giving consideration to global efficiency and local dynamic obstacle avoidance is generated. The multi-modal positioning module fuses SLAM resolving and IMU data through tight coupling to achieve centimeter-level high-precision and high-robustness positioning, and the autonomous decision controller intelligently and dynamically adjusts the cleaning priority, the advancing speed and the exception handling strategy according to the path, environment state and pose information, so that the cleaning behavior better meets the requirement.

The invention discloses a cleaning robot navigation system, which comprises a central control unit, a sensor module, a motion control system, a cleaning assembly, a communication assembly, a safety and diagnosis module and a battery and power supply management module, and is characterized in that the sensor module comprises a laser radar, an ultrasonic sensor, a visual camera and an inertial measurement unit; the laser radar is used for environment scanning and obstacle detection, the ultrasonic sensor is used for close-range obstacle detection, the visual camera is used for image processing and ground analysis, and the inertial measurement unit is used for attitude and position detection. A series of innovative technologies such as advanced sensor technology, data fusion, path planning, dynamic obstacle avoidance, cleaning task optimization and the like are combined, and a plurality of problems faced by an existing cleaning robot are solved. According to the technical scheme, the cleaning robot can be remarkably improved in the aspects of environment perception, navigation precision, cleaning efficiency, task optimization and the like.

An autonomous mobile robot control method and apparatus, a device and a readable storage medium. An autonomous mobile robot determines a sound source direction according to a voice signal from a user, and determines moving objects around the autonomous mobile robot itself. The autonomous mobile robot determines, from the moving objects, a target object located in the sound source direction, determines a working area according to the target object, and moves to the working area, and executes a task.

A dynamic edge path generation method includes: obtaining a static edge path; obtaining dynamic sensing information in real time, the dynamic sensing information comprising a device position and an obstacle edge; cutting out a preset length of path segment from the static edge path on the basis of the device position, and fitting path points contained in the path segment to obtain a fitted curve; determining, on the basis of the fitted curve and the obstacle edge, a moving direction corresponding to each fitted sampling point in the fitted curve; moving each fitted sampling point by a preset distance at least once on the basis of the corresponding moving direction so as to obtain each corresponding target path point; and obtaining a dynamic edge path on the basis of the target path points.

Embodiments of the present disclosure disclose a robot cleaner, a method and an apparatus for controlling the robot cleaner, an electronic device, and a storage medium. According to the method, detection information or state information of the robot cleaner is acquired; and the mopping component of the robot cleaner is controlled to stop working and / or to ascend in response that the detection information or the state information satisfies a non-mopping condition.

A robot cleaning system, including: a cleaning robot connectable to a mopping module of the cleaning robot, and a base station provided for the cleaning robot to dock, the cleaning robot includes: a main body; a mobile module; and a connection assembly, configured to detachably dispose the mopping module on the body of the robot; the base station includes: a storage module, configured to store at least one mopping module; an operating position, for the cleaning robot to dock to replace the mopping module; and a transfer module, configured to transfer the mopping module between the storage module and the operating position; and the robot cleaning system further includes a control unit. Beneficial effects of the present disclosure are: the cleaning robot is more intelligent, and the corresponding base station is compact in structure and small in occupied area.

A movable platform control method and device, a movable platform, a control system, and a computer-readable storage medium are provided. The method comprises: determining semantic information of different objects located on a movement path; determining different safe execution distances for the different objects based on the semantic information of the different objects; and controlling the movable platform to execute a cleaning task and / or obstacle avoidance task according to the different safe execution distances of the different objects, where the semantic information of the different objects allows differentiation between obstacles and objects to be cleaned.

The invention provides a cleaning method of a cleaning robot, the cleaning robot and a cleaning system, and relates to the technical field of intelligent robots, the cleaning robot comprises a mop assembly and a driving wheel, the mop assembly is provided with a mop and a driving part for driving the mop to rotate, and the driving wheel is located in front of the mop with the walking advancing direction of the cleaning robot as the benchmark; in the cleaning process of the cleaning robot, it is detected that a heavily-polluted area exists, and the cleaning robot is controlled to advance at least partially in a backward mode based on a preset cleaning path so as to clean at least part of the heavily-polluted area through a mop; the rotating direction of the driving wheel is opposite to the rotating direction of the mop cloth in the backward moving process, the relative friction force between the mop cloth and the cleaning face is increased through the reverse rotation, and therefore the dirt is wiped and removed more effectively instead of sliding on the dirt simply, and the mop cloth is adjusted to the first position in the backward moving process, so that the mop cloth is not prone to sliding on the cleaning face. The cleaning area covers the walking area of the driving wheel, so that cross contamination is reduced, and the cleaning effect is improved.

The invention belongs to the technical field of cleaning robots, and particularly relates to a cleaning method of a cleaning robot, and the method comprises the steps: when a shielding part of the cleaning robot executes a cleaning task on an operation surface in a laying state, the cleaning robot is hijacked, and the hijacked time is from a first preset time to a second preset time; the shielding piece is controlled to be in a lowering state, the hijacked state is that the cleaning robot is moved away from the operation face, and the lowering state is that the shielding piece is located at the first position; the cleaning robot stops being hijacked and continues to execute the cleaning task, and when the operation face is the carpet area, the shielding piece is kept in the downward state to clean the carpet area; when the operation surface is a non-carpet area, the shielding piece is located at a target position to clean the non-carpet area, and the target position is a second position or a third position; the ventilation area of the shielding piece in the first position is smaller than that of the shielding piece in the second position or the third position.

The invention relates to the technical field of smart home, and provides an obstacle avoidance processing method of cleaning equipment, the cleaning equipment, a cleaning system, a computer readable storage medium and electronic device.The obstacle avoidance processing method of the cleaning equipment comprises the steps that the surrounding environment of the cleaning equipment is detected through an obstacle sensor; generating a low obstacle map corresponding to the surrounding environment; the low obstacle map is at least used for indicating the boundary contour of a low obstacle in the surrounding environment; determining an obstacle avoidance path for the low obstacle according to the boundary contour of the low obstacle in the surrounding environment; and when the cleaning equipment is close to the low obstacle, the cleaning equipment moves along the obstacle avoidance path. According to the obstacle avoidance processing method of the cleaning equipment, smooth obstacle avoidance for low obstacles can be realized.

The invention provides a mechanical arm, cleaning equipment, a control method and a computer readable storage medium, and relates to the technical field of cleaning. The mechanical arm comprises a base, the base comprises a fixed part and a rotating part, and the rotating part is rotationally connected with the fixed part. And the folding arm comprises a plurality of connecting arms which are rotationally connected, the folding arm comprises a first end part and a second end part, and the first end part is rotationally connected with the rotating part. The clamping jaw is arranged at the second end of the folding arm, the clamping jaw is rotationally connected with the second end, and the clamping jaw is used for executing the grabbing action. And the dust suction pipe is arranged on the folding arm, one end of the dust suction pipe is provided with a dust suction nozzle, the dust suction nozzle is located at the end, away from the second end, of the clamping jaw, the dust suction nozzle communicates with the dust suction pipe, and the dust suction pipe cleans the to-be-cleaned area through the dust suction nozzle. According to the mechanical arm, by arranging the clamping jaw and the dust collection pipe, the grabbing and dust collection functions can be achieved, the functions of the mechanical arm can be enriched, and the user experience feeling is improved.

A window cleaning machine includes a body, walking module, air extracting module, first cleaning device and driving device. The body defines a primary suction space. The walking module is disposed near the body. The air extracting module is disposed on the body and is in communication with the primary suction space, allowing the body to cling to the pane surface by suction. The first cleaning device is in contact with the pane surface while performing a cleaning operation. The driving device is connected to the first cleaning device to cause the first cleaning device to undergo a reciprocating motion so as to wipe the pane surface back and forth. The body further comprises a bottom board and a carrying board. The bottom board comprises a bottom board wall portion enclosing a first bottom board through hole. The carrying board is disposed between the first cleaning device and the bottom board.

The invention provides a control method and device of a cleaning robot and a cleaning system, relates to the field of intelligent robots and is applied to the cleaning system comprising the cleaning robot and a cleaning base station, and the cleaning base station comprises a bearing unit, a conveying mechanism, a first cleaning assembly and a second cleaning assembly. Comprising the steps that after the robot completes cleaning of all sub-areas in a first area based on a first cleaning assembly, the robot is controlled to return to a base station to replace a second cleaning assembly needed for executing cleaning of a second area; after the robot returns to the base station to execute the dismounting action of the first cleaning assembly, the robot is controlled to drive out of the base station; after the robot is located outside the base station, if it is determined that the second cleaning assembly exists in the bearing unit, the robot is controlled to drive into the base station so as to install the second cleaning assembly, in this way, by optimizing the cleaning sequence of the robot, the robot can complete the cleaning task more efficiently, the unnecessary cleaning assembly replacement frequency and time waste are reduced, and the cleaning efficiency is improved. Therefore, the cleaning efficiency is improved.

The invention relates to the technical field of smart home, in particular to a sweeping robot movement obstacle avoidance method and system. The sweeping robot movement obstacle avoidance method is applied to the sweeping robot, the sweeping robot comprises a radar scanning device, a camera device and a control chip, the method is applied to the control chip, and the method comprises the steps of obtaining a scanning result of the radar scanning device and a field image shot by the camera device; the scanning result and the field image are analyzed, and the obstacle type of the to-be-cleaned area is determined; and according to the obstacle type, determining whether an uncleanable obstacle exists or not. According to the type and characteristics of the obstacle, the sweeping feasibility of the sweeping robot on the type of obstacle is evaluated, and unnecessary cleaning attempts and damage to the obstacle are avoided. The obstacle avoidance path is planned in advance by predicting the motion trail of the dynamic obstacle, and it is ensured that the sweeping robot can safely avoid the dynamic obstacle.

Systems and methods for navigating an autonomous vacuum are disclosed. According to one method, the autonomous vacuum traverses a cleaning environment having a plurality of surfaces. As the autonomous vacuum is traversing the cleaning environment, sensors on the autonomous vacuum capture sensor data describing a first section of a surface on which the autonomous vacuum is currently traversing. Based on the received sensor data, the autonomous vacuum can determine that the first section is of a first surface type of a plurality of surface types. The autonomous vacuum can generate a user interface with a background displaying the determined first surface type to notify the user of where the autonomous vacuum is cleaning.

A map-building method for a robot is provided. The method includes: controlling the robot to travel toward a target point; processing the target point according to the exploration point information; and in response to that, the robot arrives at the target point, collecting map-building data of the region to be explored in order to update an environmental spatial map of the robot.