Cleaning robot with map construction and navigation

Abstract

The invention provides a cleaning robot with map construction and navigation. The cleaning robot includes a control unit, a sensor unit, a movement and driving unit, a cleaning unit, a frame unit anda power charging and supplying unit. The sensor unit includes a cliff sensor, a wall-by-wall sensor, an IMU inertial measurement sensor, an electronic compass sensor, an odometer sensor, a collision sensor, an ultrasonic sensor and single-point distance measurement sensors. One or more single-point distance measurement sensors are arranged on the edge of the cleaning robot, when the cleaning robotmoves in an environment, the single-point distance measurement sensor can achieve the construction of a length of environmental map, the information in one or more sensors such as the IMU inertial measurement sensor, the electronic compass sensor and the odometer sensor is combined, multi-sensor data fusion is achieved, and the cleaning robot moves in the environment so that high-precision construction and navigation of the entire map can be achieved.

Description

technical field [0001] The invention relates to the field of cleaning robots and mobile robots, in particular to the field of cleaning robots with map construction and navigation. Background technique [0002] With the development of smart homes, cleaning robots for households and factories are more and more valued and loved by people. Some of the existing household cleaning robots do not have map building and navigation functions, and they "run around" during the cleaning process, making it difficult to achieve full-coverage cleaning; another cleaning robot relies on IMU inertial measurement units, electronic compass sensors, and odometers. Sensors and collision sensors realize low-precision map construction and navigation, and the effect is better than the former, but it is still difficult to achieve full-coverage cleaning; at this stage, household cleaning robots that can achieve better map construction and navigation mostly use rotating lidar solution, the lidar uses tr...

AI Technical Summary

Problems solved by technology

Some of the existing household cleaning robots do not have map building and navigation functions, and they "run around" during the cleaning process, making it difficult to achieve full-coverage cleaning; another cleaning robot relies on IMU inertial measurement units, electronic compass sensors, and odometers. Sensors and collision sensors realize low-precision map construction and navigation, and the effect is better than the former, but it is still difficult to achieve full-coverage cleaning; at this stage, household cleaning robots that can achieve better map construction and navigation mostly use rotating lidar solution, the lidar uses triangular ranging to measure the distance, but this solution will face the problem of slip ring life through the rotation of the motor to drive the measurement module. Although this problem can be solved by wireless power supply and communication, it also increases cost of the program

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