Method for realizing autonomous exploration mapping and autonomous path covering of indoor robot cleaner

A sweeping robot and path covering technology, which is applied in the field of machinery for cleaning carpets, furniture, floors, walls or wall coverings, can solve the problems of high cleaning repetition rate, affect the use efficiency, cannot guarantee complete coverage, etc., to reduce repetition The effect of cleaning, improving work efficiency and improving coverage

Inactive Publication Date: 2017-05-10
南京罗普森智能科技有限公司
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Problems solved by technology

This method does not guarantee complete coverage, and once the robot is trapped by obstacles, it is difficul

Method used

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Embodiment Construction

[0012] Through the following description of the embodiments, it will be more helpful for the public to understand the present invention, but the specific embodiments given by the applicant cannot and should not be regarded as limitations on the technical solutions of the present invention, any components or technical features Changes to the definition and / or formal but not substantive changes to the overall structure should be regarded as the scope of protection defined by the technical solutions of the present invention.

[0013] In this embodiment, the sweeping robot uses the camera to sense the environment of the current area, obtains the depth information of the current shooting area, and determines a boundary position by detecting the boundary of the current area, and the robot moves to this position autonomously to complete the scanning of the previous area and The map is generated and the environment of the new area is perceived; the sweeping robot finally completes the ...

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Abstract

The invention discloses a method for realizing autonomous exploration mapping and autonomous path covering of an indoor robot cleaner. The method comprises the following steps: 1) the robot cleaner senses the current area environment, obtains the depth information of the current shooting area, and determines a boundary position; 2) the robot moves autonomously to the position, completes the scanning and map generation of the upper area, and senses the environment of the new area; 3) the robot cleaner finally completes the generation of an indoor environment complete map through the continuous boundary exploration and new regional scanning, and distinguishes the area that cannot be passed and the area that can be passed in the map; 4) the indoor environment map can be completed, and the map area can be decomposed to generate the cleaning path for covering each area; and 5) a motion control module drives the robot cleaner to finally complete the cleaning of the indoor environment in accordance with the planned area order and path. The method overcomes the shortcomings of low coverage and high cleaning repetition rate of a conventional robot cleaner, thereby improving the robustness of the system and the work efficiency.

Description

technical field [0001] The invention relates to a method for realizing autonomous exploration and mapping and autonomous path coverage of an indoor sweeping robot, and belongs to the technical field of machinery for cleaning floors, carpets, furniture, walls or wall coverings. Background technique [0002] At present, most of the existing indoor sweeping robots on the market use a simple bow-shaped cleaning strategy or a random method. The principle of the bow-shaped cleaning robot is: Let the robot walk forward until it hits an obstacle, then rotate 90 degrees and continue to walk forward for a short distance, continue to rotate 90 degrees and then walk until it hits an obstacle again, and the cycle continues. This strategy will have a lot of missed scans, and the coverage rate is not high. The cleaning robot in the random mode is also to let the robot walk forward, but let the robot randomly rotate an angle after encountering an obstacle, and go straight, and keep looping...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0231G05D2201/0203
Inventor 王威谈笑胡义轩袁泽寰黄鹤
Owner 南京罗普森智能科技有限公司
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