Unlock instant, AI-driven research and patent intelligence for your innovation.

Obstacle height detecting device and method for robot sweeper and obstacle crossing device and method for robot sweeper

A technology of a height detection device and a sweeping robot, applied in the field of sweeping robots, can solve the problems of inability to judge the height of obstacles and inability to enter other rooms, etc.

Inactive Publication Date: 2018-06-29
TRULY OPTO ELECTRONICS
View PDF6 Cites 16 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the existing sweeping robots encounter obstacles such as thresholds, there are generally two choices. One is to change the route to bypass the obstacles, which leads to the sweeping robot can only clean within a certain range of space and cannot enter other rooms Cleaning; one is to stick to the route and cross obstacles, so that the sweeping robot can cross the threshold and enter other rooms for cleaning
For the latter option, the sweeping robot can only recognize the obstacle, but cannot judge the height of the obstacle, which leads to the blind crossing of the obstacle by the sweeping robot. crossing behavior

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Obstacle height detecting device and method for robot sweeper and obstacle crossing device and method for robot sweeper
  • Obstacle height detecting device and method for robot sweeper and obstacle crossing device and method for robot sweeper
  • Obstacle height detecting device and method for robot sweeper and obstacle crossing device and method for robot sweeper

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] Such as figure 1 As shown, an obstacle height detection device of a sweeping robot includes:

[0045] The image acquisition unit includes at least two cameras on the same shooting plane for acquiring at least two obstacle images;

[0046] The distance calculation unit is configured to calculate the first distance of the obstacle according to the acquired at least two obstacle images;

[0047] The height calculation unit is used to calculate the height of the obstacle according to an acquired obstacle image and the calculated first distance of the obstacle.

[0048] The obstacle height detection device first detects the distance of the obstacle through the dual cameras or multiple cameras of the image acquisition unit, calculates the first distance of the obstacle, and then uses one of the obstacle images and the calculated obstacle first The distance is used to finally calculate the height of the obstacle. After knowing the height of the obstacle in front of the sweeping robot,...

Embodiment 2

[0052] Such as Figure 4 As shown, an obstacle crossing device of a sweeping robot includes:

[0053] The obstacle height detection device described in the first embodiment is used to detect the height of the obstacle;

[0054] The first control unit is used to control the spanning mechanism on the sweeping robot to span the obstacle according to the detected height of the obstacle.

[0055] The obstacle leaping device controls the leaping mechanism of the sweeping robot to leap over the obstacle according to the detected obstacle height, which can effectively prevent the sweeping robot from blindly leaping over the obstacle. For example, the height of the surpassed obstacle has exceeded its limit. Leaping over heights and walls.

[0056] There are mainly two types of straddling mechanisms on the sweeping robot: a lifting straddling mechanism set on the bottom of the sweeping robot or a flying striding mechanism set on the top of the sweeping robot. There are multiple existing mechan...

Embodiment 3

[0071] Such as Figure 5 As shown, an obstacle height detection method of a sweeping robot includes:

[0072] Step 1: Obtain at least two obstacle images through at least two cameras on the same shooting plane;

[0073] Step 2: Calculate the first distance of the obstacle based on the acquired at least two obstacle images;

[0074] Step 3: Calculate the height of the obstacle based on the obtained obstacle image and the calculated first distance of the obstacle.

[0075] The obstacle height detection method first calculates the first distance of the obstacle through the dual-camera or multi-camera distance measurement principle, and then calculates the obstacle height through one of the obstacle images and the calculated first distance of the obstacle, and knows the sweeping After the height of the obstacle in front of the robot, it helps to control the spanning mechanism of the sweeping robot to span the obstacle.

[0076] In step 2, there are many principles and algorithms for dual-c...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an obstacle height detecting device and method for a robot sweeper and obstacle crossing device and method for the robot sweeper. The obstacle height detecting device comprisesan image acquiring unit, a distance calculating unit and a height calculating unit and is characterized in that the image acquiring unit comprises at least two cameras on the same shooting plane andis used for acquiring at least two obstacle images; the distance calculating unit is used for calculating the first distance of an obstacle according to the acquired obstacle images; the height calculating unit is used for calculating the height of the obstacle according to one acquired obstacle image and the calculated first distance of the obstacle. The obstacle height detecting device can detect the height of the obstacle in front of the robot sweeper and is helpful for subsequent obstacle crossing.

Description

Technical field [0001] The invention relates to the field of sweeping robots, in particular to an obstacle height detection device and method of a sweeping robot, and a crossing device and method. Background technique [0002] Sweeping robots, also known as automatic cleaners, smart vacuum cleaners, robotic vacuum cleaners, etc., are a type of smart household appliances that can automatically complete floor cleaning in the room with a certain artificial intelligence. When the existing sweeping robot encounters obstacles such as thresholds, there are generally two choices. One is to change the route and bypass the obstacles. This causes the sweeping robot to only clean in a certain range of space and cannot enter other rooms. Perform cleaning; one is to stick to the route to cross obstacles, so that the sweeping robot can cross the threshold and enter other rooms to clean. For the latter option, the sweeping robot can only recognize obstacles, but cannot judge the height of the o...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): A47L11/24A47L11/40B25J11/00B25J19/00
CPCA47L11/24A47L11/40A47L11/4061B25J11/0085B25J19/00
Inventor 吴光斯林挺杜映丹
Owner TRULY OPTO ELECTRONICS