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Self-moving robot relocation method and self-moving robot using method

A repositioning and robot technology, applied in the direction of instruments, two-dimensional position/channel control, measuring devices, etc., can solve problems such as constraining the range of values, and achieve the effect of improving positioning success rate and improving matching efficiency

Active Publication Date: 2017-08-11
ECOVACS ROBOTICS (SUZHOU ) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a self-mobile robot repositioning method and a self-mobile robot adopting the method in view of the deficiencies in the prior art. The method solves the local symmetry problem of the environment and improves the positioning success rate; The matching mode has changed from the traditional progressive scanning to the spiral outward expansion matching with the specified point as the center; and the orientation information added when the user specifies the reference point effectively constrains the value range of θ, without 360° comparison, which improves the matching efficiency

Method used

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  • Self-moving robot relocation method and self-moving robot using method
  • Self-moving robot relocation method and self-moving robot using method
  • Self-moving robot relocation method and self-moving robot using method

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Embodiment 1

[0039] The present invention provides a repositioning method for a self-mobile robot. When the self-mobile robot is walking in a pre-stored map, when the external force moves it from the first working position to the second working position, the positioning failure occurs. The second working position is repositioned, and the second working position is set as a reset position.

[0040] The repositioning method includes the steps of:

[0041] Step 100: Designate a reference point O near the reset position through a pre-stored map;

[0042] Step 200: The self-mobile robot scans the reset position as a base point, establishes a temporary local environment map near the reset position, and compares the temporary local environment map with the pre-stored map near the reference point O Matching, looking for the optimal pose;

[0043] Step 300: the matching is successful, and the self-mobile robot completes repositioning in the pre-stored map of the second working area.

[0044] For...

Embodiment 2

[0062] The difference between this embodiment and Embodiment 1 is that in addition to using feature extraction for matching, the matching in step 200 can also be based on the extracted grid map according to the outline in the scanned temporary local environment map. matches, including:

[0063] Step 210: The self-mobile robot scans with the reset position as a base point;

[0064] Step 220: Establish a temporary local environment map near the reset position, and compare the scanned grid map in the temporary local environment map with the center corresponding to the reference point O and where the reference point O is located. The pre-stored grid map in the pre-stored map of the region is compared for registration;

[0065] Step 230: After finding the grid feature with the highest similarity with the scanned grid map in the pre-stored map, calculate the coordinates and orientation of the reset location, and proceed to step 300.

[0066] In other words, the content of this emb...

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Abstract

The invention provides a self-moving robot relocation method and a self-moving robot using the method. The self-moving robot moves from a first working position to a second working position within the pre-stored map range to perform relocation and sets the second working position as the reset position. The concrete steps comprise that a reference point O is specified near the reset position through the pre-stored map firstly; then scanning is performed with the reset position acting as the base point, a temporary local environment map near the reset position is established and the temporary local environment map is matched with the per-stored map near the reference point O; and the self-moving robot completes relocation in the pre-stored map after matching is succeeded. The local symmetry problem of the environment is solved so that the success rate of location can be enhanced; the map matching mode is changed from the conventional progressive scanning to spiral outward expansion matching with the specific point acting as the center; and the value range of theta is effectively constrained by orientation information added by the user in specifying the reference point with no requirement for performing 360-degree comparison so that the matching efficiency is high.

Description

technical field [0001] The invention relates to a repositioning method of a self-moving robot and a self-moving robot adopting the method, belonging to the technical field of small home appliance manufacturing. Background technique [0002] Planning cleaning robots need to have positioning and environmental perception capabilities. When the environment changes drastically, such as when it is often moved, it may lead to failure of positioning and then work failure. Realizing the rapid repositioning of cleaning robots is an urgent problem to be solved. [0003] The prior art CN104115082A discloses a self-propelled robot for autonomously completing work, and one embodiment discloses that the self-propelled robot includes a communication module for establishing a communication link with a man-machine interface. The human-machine interface can display stored information for the user including relevant locations and enable the user to intervene in the process (or check the proce...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/00
CPCG01C21/005G05D1/02
Inventor 汤进举
Owner ECOVACS ROBOTICS (SUZHOU ) CO LTD
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