1389results 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.

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 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.

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.

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.

The invention provides a cleaning method and device of a cleaning robot, the cleaning robot, equipment and a medium, and relates to the technical field of cleaning equipment. Comprising the steps that in the process that a cleaning robot cleans a to-be-cleaned area, under the condition that it is detected that a heavily-polluted area exists, the smudginess area of the heavily-polluted area is determined; if the dirty area is larger than the preset threshold value, the robot is controlled to advance in an advancing mode so as to clean at least part of the heavily-dirty area through a mop assembly; if the dirty area is smaller than or equal to the preset threshold value, the robot is controlled to advance in a backward mode so as to clean at least part of the heavily-dirty area through the mop assembly, and the robot can push dirt out of the heavily-dirty area and pollute the adjacent area when the robot moves backward for cleaning, so that the large-area heavily-dirty area is cleaned in the previous mode, and the cleaning efficiency is greatly improved. Dirt is prevented from being pushed to an uncleaned area, pollution diffusion is prevented, small-area heavily-polluted areas are cleaned in a reverse advancing mode, driving wheels are prevented from making contact with the dirt or diffusion, and the cleaning effect is improved.

The invention discloses a sweeping robot control method and system, and the method comprises the steps: calling a pre-established fault feature library according to a fault type outputted by an abnormality recognition module, and carrying out the matching of corresponding abnormality feature data, and obtaining a preliminary abnormality confirmation result; according to the action recovery instruction, an execution unit of the sweeping robot is driven to adjust the wheel rotating speed or reversely rotate a brush, state feedback data after execution is obtained, and whether the recovery action is completed or not is judged; a new cleaning path scheme is generated according to the condition that the current obstacle avoidance capability is insufficient through a path adjustment demand, and the feasibility of an alternative path is determined; through real-time state data in a task execution process, cleaning efficiency and frequent fault problems are continuously monitored, a feature library is circulated, and operation stability is judged.

A sweeping robot includes: a main body, a first cleaning mechanism, and a second cleaning mechanism. The first cleaning mechanism is connected to the main body and is located below the main body, and the first cleaning mechanism is configured to clean a floor. The second cleaning mechanism is rotatably connected to the main body, and has a first state and a second state. In the first state, the second cleaning mechanism retracts relative to a side of the main body, and in the second state, the second cleaning mechanism protrudes relative to the side of the main body, and the second cleaning mechanism is configured to clean a wall.

An obstacle avoidance method for a self-moving robot includes: obtaining and recording, by the self-moving robot, information about an obstacle encountered during traveling, wherein the information about the obstacle includes type information and location information of the obstacle; and receiving, by the self-moving robot, an operation instruction for a specified obstacle, wherein the operation instruction is configured for instructing the self-moving robot, when detecting an obstacle of a same type as the specified obstacle in a region range labeled with the specified obstacle, not to perform an obstacle avoidance operation on the obstacle of the same type.

The invention provides a control method and system of a sweeping robot, and the method comprises the steps: obtaining image data, three-dimensional space data and sound data of a surrounding environment, and extracting object attribute features, space features and sound attribute features in the environment; fusing the object attribute feature, the spatial feature and the sound attribute feature to obtain an identification result; based on an identification result, executing hierarchical scene adaptive planning and executing a cleaning task by adopting a self-adaptive variational cleaning strategy; after the cleaning task is completed, second image data of the cleaned area are collected; recognizing residual stains on the ground according to the second image data and a preset cleaning effect recognition model; and if the area of the residual stain exceeds a preset area threshold value, triggering a re-cleaning program, and automatically switching a corresponding cleaning mode according to the type of the residual stain. According to the scheme, when the sweeping robot encounters the obstacles in the sweeping area, the sweeping robot can intelligently take accurate countermeasures, and an excellent sweeping effect is achieved.

A robotic pool cleaning vacuum, includes a chassis, a suction duct topping the frame and opening into a filter bag placed above, and an impeller placed inside the duct to suck up debris via a suction port and push it into the filter bag, the chassis including a motor axle drawing the robot, the axle includes two drive wheels driven by a single motor, and an axis connecting the drive wheels transversely to the movement of the robot, the motor being configured to invert its direction of rotation in contact with a wall, the robot further includes a third free wheel for greater stability and maneuverability.

The invention relates to the technical field of smart home and robots, and discloses an obstacle crossing wheel, a cleaning robot and an obstacle crossing method.The obstacle crossing wheel comprises a first supporting frame, a driving wheel and a first obstacle crossing arm; the first support frame is provided with a first rotating center and a second rotating center; the driving wheel is arranged on one side of the first supporting frame and can rotate around a first rotating center; the first obstacle crossing arm is arranged on the other side of the first supporting frame and rotationally connected with the first supporting frame, and the first obstacle crossing arm can rotate around the second rotating center so as to be switched between an obstacle crossing mode and a traveling mode; the projection of the second rotating center on the central plane of the driving wheel is located in the projection area of the driving wheel on the central plane. The obstacle crossing mechanism has the advantages of simplifying the obstacle crossing structure, reducing the size, reducing the production cost and increasing the obstacle crossing height.

The invention relates to a sweeping robot real-time navigation method based on edge calculation, and the method comprises the following steps: collecting indoor environment data, and generating a multi-dimensional environment data matrix containing a timestamp; pet movement track features are extracted from the multi-dimensional environment data matrix, and a pet behavior prediction model is generated; analyzing the position distribution of the obstacles and the to-be-cleaned area from the multi-dimensional environment data matrix, and preliminarily determining the weight of each block; if it is detected that the pet enters the sweeping path range, the relative distance and speed of the pet and the sweeping robot are calculated in real time; controlling the robot to pause the current cleaning task and bypass according to the temporary obstacle avoidance operation, correcting positioning drift generated by bypass, and adjusting a cleaning path; according to the corrected robot positioning coordinates and the adjusted cleaning path; and generating and executing a dynamic cleaning instruction according to the cleaning power configuration scheme. The cleaning path can be reasonably planned, the cleaning power can be intelligently distributed, and the cleaning efficiency and effect can be optimized and improved in real time.

A system and method are disclosed for training a machine learning model configured to determine a traversability of a real-world environment by a mobile robot based on an image of the real-world environment. The method advantageously generates high quality synthetic training data for training a traversability detection model to discriminate between traversable and untraversable regions in images captured of a real-world environment. The synthetic training data is generated through simulation of a virtual robot in a virtual environment. Once the traversability detection model is trained, it can be deployed to the mobile robot for the purpose of predicting traversability of a real-world environment.

This invention discloses a mobile mechanism and a mobile robot incorporating the same. The mobile mechanism includes a housing, a slide, a moving wheel, a pressing part, and a deformable part. A guide part is provided within the housing. The slide is mounted on the guide part and can move along it. The moving wheel is fixed to the slide and partially protrudes from the surface of the housing. The pressing part presses against the slide, causing the slide to move towards the surface of the housing. The deformable part is mounted on the housing and connected to the pressing part, providing a force to the slide towards the housing surface during deformation. This invention allows the robot to move on different types of work surfaces. Especially when encountering obstacles, the pressing part provides a downward force to the slide, maximizing the proximity of the moving wheel to the work surface and generating friction, enabling the mobile robot to move and move away from obstacles.

The utility model relates to the field of cleaning equipment, and discloses an obstacle crossing mechanism, a driving device and a cleaning robot. The obstacle crossing mechanism comprises a base, a rotating piece and a driving assembly, the base is used for being connected with walking equipment, the driving assembly can drive the rotating piece to rotate in the first direction and the second direction, and obstacle crossing supporting legs are arranged on the rotating piece; when rotating in the first direction, the rotating part can drive the obstacle crossing supporting legs to rotate so as to support the walking equipment and walk through the obstacle crossing supporting legs, and when rotating in the second direction, the rotating part can jack up a chassis of the walking equipment. The driving device comprises a walking frame and the obstacle crossing device. The cleaning robot comprises the driving device. Based on the obstacle crossing mechanism provided by the utility model, the obstacle crossing mechanism can be arranged on the cleaning robot, so that the cleaning robot can be driven by the obstacle crossing mechanism to cross obstacles or walk in special scenes such as a long wool carpet, and the application range of the cleaning robot is widened.

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 following steps: when a shielding part of the cleaning robot executes a cleaning task on an operation surface in a downward placement state, and when the cleaning robot is hijacked, controlling the shielding part to be switched from the downward placement state to a folded state, the cleaning robot is hijacked to move from an original position to a specified position to execute a temporary cleaning task, the shielding part is in a first position in a lowering state and is in a second position in a folding state, and a ventilation area when the shielding part is in the first position is smaller than that when the shielding part is in the second position; and when the cleaning robot is hijacked, the shielding piece is kept in a folded state.

The invention relates to the technical field of housekeeping robots, and discloses a housekeeping cleaning high-precision service robot control system based on multi-modal perception, and the system comprises a depth visual perception module which obtains the three-dimensional information of an environment through a binocular camera, and recognizes the positions and shapes of furniture, obstacles and other objects; the contact type pressure sensing modules are distributed on the robot cleaning part and used for sensing the contact pressure and the stress state of the surface of a cleaned object; the system comprises a control system core unit, a dynamic adjustment module and a remote communication module. According to the invention, the depth visual perception module and the contact type pressure perception module are adopted, so that environment and object information can be more comprehensively perceived. The depth visual perception module acquires environment three-dimensional information by using a binocular camera, and identifies positions and shapes of objects such as furniture and obstacles; the contact type pressure sensing modules are distributed on a robot cleaning part and used for sensing the contact pressure and the stress state of the surface of a cleaned object.

A method of controlling a robotic cleaning apparatus. The method includes detecting, via one or more sensors, a soiled area on a target surface for cleaning. The method includes activating an active suspension system to reduce a distance between a chassis of the robotic cleaning device and a target surface to increase pressure exerted by a cleaning pad mounted to the chassis of the robotic cleaning device. The method includes monitoring, via one or more processors, one or more parameters of the robotic cleaning device to determine whether the one or more parameters are outside a threshold parameter range. The method includes adjusting the active suspension system if the one or more parameters are outside the threshold parameter range, and deactivating the active suspension system when it is detected that the soiled area on the target surface is cleaned.

The embodiment of the invention discloses a control method and device of automatic cleaning equipment and related equipment, the automatic cleaning equipment comprises an equipment body and a mechanical arm arranged on the equipment body, the equipment body is provided with a first sensor, and the mechanical arm is provided with a second sensor. The mechanical arm is controlled to extend out of the equipment body, the automatic cleaning equipment is controlled to move in the working environment, and visual information is collected through a first sensor and a second sensor in the moving process; in response to the high-altitude area identified according to the visual information collected by the second sensor, the automatic cleaning equipment is controlled to move to the position below the high-altitude area; the mechanical arm is controlled to enter a high-position scanning posture, and visual information of a high-altitude area is collected through a second sensor; and the visual information collected by the first sensor and the second sensor in the mapping mode is fused to establish a map of the working environment, so that the navigation capability and the obstacle avoidance capability of the automatic cleaning equipment are improved.

This specification relates to the field of smart household technologies, and in particular, to a movement control method for a cleaning robot, a cleaning robot, and a storage medium. The method includes: in a movement process of the cleaning robot, collecting three-dimensional information of a step-type obstacle in a front area by using a sensor system, where the three-dimensional information includes at least height information and depth information of the step-type obstacle; and at least when the height information and the depth information meet an obstacle crossing condition, performing an obstacle crossing action to cross the step-type obstacle, to clean the step-type obstacle. In embodiments of this specification, the depth information of the step-type obstacle is considered during obstacle crossing, so that refined and intelligent obstacle crossing can be performed on the step-type obstacle, thereby avoiding obstacle crossing abnormality.

The invention relates to an obstacle cleaning method, a cleaning robot and a computer readable storage medium. The method is applied to the cleaning robot, the cleaning robot comprises a chassis and a wet cleaning part connected with the chassis, and the method comprises the steps that obstacle information is recognized, when the height of an obstacle is larger than a first threshold value, an obstacle avoidance cleaning strategy is executed, and when the height of the obstacle is smaller than a second threshold value, a low obstacle cleaning strategy is executed; the obstacle avoidance cleaning strategy is to clean obstacles along the edges; according to the low obstacle cleaning strategy, the upper surface of the obstacle is kept clean by adjusting the lifting height of a chassis of the cleaning robot and / or the lifting height of a wet type cleaning piece. By adopting the method, the cleaning coverage rate and the cleaning effect are improved.

The invention relates to a cleaning robot driving control method and a cleaning robot. The method comprises the steps that the cleaning robot is controlled to shoot a first area image of a ground area where a ground laying object is located; detecting first contour position information of a first edge of the ground paving object according to the first area image; generating a working navigation map of the cleaning robot according to the first contour position information; according to the work navigation map, the cleaning robot is controlled to run along the first edge of the ground laying object. By adopting the method, the cleaning efficiency of the cleaning robot can be improved.

The invention relates to the technical field of voice recognition, and discloses a voice instruction recognition and cleaning control method for a sweeping robot, which comprises the following steps: synchronously reading a dust collection motor driving pulse width modulation value and a rolling brush motor load current value of the sweeping robot while acquiring an audio signal acquired by a microphone; retrieving and interpolating in a preset working condition noise spectrum mapping table according to the non-acoustic operation state data, determining a predicted mechanical noise power spectrum at the current moment, taking the predicted mechanical noise power spectrum as a priori reference, calculating an instantaneous signal-to-noise ratio of the predicted mechanical noise power spectrum and the frequency domain feature sequence, and constructing a frequency domain confidence mask; according to the method, a feedforward prediction mechanism is constructed by introducing non-acoustic prior information, and response lag of traditional acoustic posteriori estimation during sudden change of working conditions is avoided.

The invention relates to the technical field of cleaning robot task management, and discloses an LLM-based cleaning robot task management method, which comprises the steps of analyzing a user voice instruction in real time through an LLM-driven natural language interaction engine, generating a structured task description, dynamically optimizing task priorities and resource allocation in combination with multi-modal perception data, and carrying out task management on the user voice instruction. The method achieves the autonomous decision-making of environment abnormity, supports the real-time change of tasks and the closed-loop learning of historical data in the cleaning process, and forms a personalized service closed-loop mechanism. According to the method, the man-machine interaction naturalness, the task execution efficiency and the system self-adaptive capacity are remarkably improved, and the technical problems that in the traditional technology, semantic understanding is lacked, environmental perception is insufficient, resource distribution is rigid and personalized services are lacked are solved.

The present disclosure provides robotic systems and methods. The robotic systems and methods may be used to clean an area or environment.

A cleaning apparatus includes: a robot cleaner including a motion driver, and a dust bin to store dirt; a station including a dirt container, a seating portion on which the robot cleaner is seated and including an inlet through which the dirt is introduced from the dust bin; and at least one processor to control operations of the robot cleaner and the station. The robot cleaner further includes a location detection sensor configured to obtain information about a location of the robot cleaner, the station further includes a pressure sensor configured to obtain information about a pressure inside the dirt collection duct, and the at least one processor is configured to control the motion driver to adjust the location of the robot cleaner to allow an opening of the dust bin to correspond to the inlet based on the information obtained by the location detection sensor and the pressure sensor.

The utility model belongs to the technical field of electrical equipment, and particularly relates to a detection device, cleaning equipment and a cleaning system. The detection device is assembled on a main machine of the cleaning equipment and comprises a driving mechanism and a detection module, and the driving mechanism is provided with a liftable output part; the detection module is connected with the output part of the driving mechanism, and the detection module is movably located at a first detection position, a second detection position or between the first detection position and the second detection position; wherein the first detection position is higher than the top surface of the host, and the second detection position is lower than or equal to the top surface of the host. The phenomenon that the detection module is damaged due to the fact that the detection module makes contact with and collides with an obstacle on the advancing path of the cleaning equipment can be avoided, and normal operation of the cleaning equipment is guaranteed.

The embodiment of the invention provides a cleaning robot which comprises a machine body, a cleaning device and a driving device. The driving wheel assembly is arranged on the machine body; the dust collection cleaning device comprises a dust box assembly, a dust collection fan assembly and a dust discharge channel assembly, the first end of the dust discharge channel assembly is connected with the dust box assembly, and the second end of the dust discharge channel assembly extends to the rear end of the machine body; the mopping and washing assembly is arranged on the rear side of the dust box assembly, the mopping and washing device is movably connected with the machine body, and the mopping and washing assembly in the mopping and washing device can extend outwards from one side of the machine body relative to the machine body in the direction of the transverse central axis; the water path system is connected with the mopping assembly; in the direction of the transverse central axis, the dust discharging channel assembly is located on the opposite side of the stretching-out direction of the mopping assembly. According to the technical scheme, the mopping assembly is arranged in the transverse direction of the machine body, and the dust discharging channel is formed in one side of the mopping assembly, so that the mopping assembly with the enough length is arranged on the machine body, and the side space of the mopping assembly can be fully utilized.

A control method and apparatus for a cleaning robot, a device, and a medium, relating to the technical field of robots. The method comprise: providing a graphical interface at a configuration end, wherein the interface comprises an instruction block panel and an instruction editor, and the instruction block panel comprises at least one instruction block (S101); in the instruction editor, receiving one or more target instruction blocks selected from the instruction block panel, and by means of the one or more target instruction blocks, formulating target control logic for controlling a cleaning robot (S102); and controlling the cleaning robot on the basis of the formulated target control logic (S103). By providing the graphical interface at the configuration end, users can formulate target control logic according to their diverse and personalized requirements, so as to meet corresponding target function requirements, such that the usage scenarios of the cleaning robot are enriched, improving the working efficiency of the cleaning robot.