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Cleaning robot indoor scene map modeling method and robot

A technology for cleaning robots and indoor scenes, applied in the field of map modeling for cleaning robots in indoor environments based on ultrasonic sensors, to achieve the effect of meeting positioning needs

Inactive Publication Date: 2017-08-04
HOHAI UNIV CHANGZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a cleaning robot indoor scene map modeling method and robot to solve the technical problem of low-cost indoor scene map modeling

Method used

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  • Cleaning robot indoor scene map modeling method and robot
  • Cleaning robot indoor scene map modeling method and robot
  • Cleaning robot indoor scene map modeling method and robot

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] figure 1 It is a diagram of the distribution of ultrasonic sensors of the cleaning robot and its own coordinate system.

[0038] specific, figure 1 The shape of the middle robot body is a round pie shape, and a total of 5 ultrasonic sensors d0 to d4 are symmetrically distributed on the front half circle, which can be 5 ultrasonic sensors or 8 ultrasonic sensors. The robot's own coordinate system is based on the top view circle center as the coordinate origin O', the front of the robot is the positive direction of the X'axis, and the positive direction of the Y'axis is perpendicular to the X'axis and pointing to the left side of the robot. The radius of the circle in the top view of the robot is a, so the distance from the origin O'to the ultrasonic sensor d1 is also a, and the angle between the line of the ultrasonic sensor d1 and the origin O'and the Y'axis is θ, that is, the oblique included angle Or installation angle.

[0039] figure 2 This is a schematic diagram of us...

Embodiment 2

[0058] On the basis of Embodiment 1, the present invention also provides a cleaning robot suitable for autonomous indoor scene map modeling, including:

[0059] A circular pie-shaped robot body, with at least 5 ultrasonic sensors evenly distributed along the front half circumference of the robot body, one is located directly in front (d2), two symmetrical and diagonally distributed (d1 and d3), and two They are respectively located on both sides (d0 and d4) of the robot body; the ultrasonic sensors are respectively connected to the processor module; the processor module is adapted to control the cleaning robot to make a circle along the indoor boundary to obtain the indoor boundary position information; and It also controls the cleaning robot to walk randomly to obtain information about isolated island obstacles to build an indoor scene map.

[0060] Further, the establishment of the indoor boundary position information includes:

[0061] First determine the indoor scene coordinate ...

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Abstract

The present invention relates to a cleaning robot indoor scene map modeling method and robot. The indoor scene map modeling method includes the following steps: step S1, the cleaning robot circles around the indoor boundary indoors to obtain indoor boundary position information; And step S2, obtain the island obstacle information through the random walking of the cleaning robot; step S3, establish the indoor scene map. The invention records indoor obstacles and wall position information through a multi-sensor array carried by the cleaning robot itself, thereby performing map modeling on simple indoor scenes.

Description

Technical field [0001] The invention relates to a scene map modeling method of an indoor cleaning robot, in particular to a method for a cleaning robot to perform map modeling in an indoor environment based on an ultrasonic sensor. Background technique [0002] Intelligent cleaning robot is a kind of domestic service robot. It has the characteristics of time-saving, labor-saving, diversified functions, light weight and compactness. It can greatly reduce the labor burden of people. It is becoming a hotspot in robot research and has high scientific research value. At the same time, as a special application of intelligent mobile robots, intelligent cleaning robots inherit several key technologies of intelligent mobile robots, such as sensor technology, positioning technology, etc.; at the same time, they also have their own particularities, such as no need to understand the three-dimensional environment. New features such as coverage of all paths. It can replace repetitive manual l...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 吴登峰梅志千李向国孙正康
Owner HOHAI UNIV CHANGZHOU