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Method and system for robot navigation based on virtual wall for projection

A navigation method and robot technology, applied in the field of robot navigation method and system based on projected virtual wall, to achieve the effect of wide recognition coverage, multi-expansion, and simplified operation

Active Publication Date: 2019-04-02
JOYOUNG CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a robot navigation method and system based on projected virtual walls, which solves the problem of setting virtual walls in the global environment of visual navigation robots

Method used

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  • Method and system for robot navigation based on virtual wall for projection
  • Method and system for robot navigation based on virtual wall for projection
  • Method and system for robot navigation based on virtual wall for projection

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0055] This embodiment combines figure 1 A method for robot navigation based on projected virtual walls is illustrated, including:

[0056] S101. Detect light spot information projected to the ceiling or the ground;

[0057]S102. Determine an activity range of the robot according to the light spot information and the position information of the robot.

[0058] Wherein, the light spot information includes: the number of light spots, the geometric shape of the light spots, and the position information of the light spots.

[0059] After determining the scope of the robot's activities, it also includes:

[0060] The robot performs preset operations within the activity range.

[0061] The embodiments of the present invention generate the required light spots for robot visual navigation through the light spot emission device; and project the light spots to the ceiling, preferably, such as figure 2 As shown, the spot emitting device of the embodiment of the present invention can...

Embodiment 2

[0066] This embodiment takes the sweeping robot as an example to illustrate the robot navigation method based on the projected virtual wall in the embodiment of the present invention. During the operation of the sweeping robot, the top camera continuously captures ceiling information, detects whether there is light spot information in the ceiling, and continuously Added to the control task. Since the area captured by the camera is limited, and there may be other light spot information during the movement, the strategy of this virtual wall is local and constantly updated. According to the number of light spots and the relative position information between the geometric shape of the light spots and the sweeping robot, different virtual wall functions can be defined.

[0067] According to the above relative positional relationship, the preset functions of the sweeping robot under various numbers of spots and positions of spots can be preset.

[0068] Determining the activity ran...

Embodiment 3

[0082] The difference between this embodiment and Embodiment 2 is that the number of light spots in this embodiment is 2.

[0083] Determining the activity range of the robot according to the light spot information and the position information of the robot includes:

[0084] When the number of the light spots is 2, the geometric shape is a straight line obtained through the centers of the two light spots; the range of activity of the robot is determined to be one of the areas on both sides formed by the projection of the straight line on the ground .

[0085] When the light spot is projected to the ceiling, the projection area of ​​the geometric shape of the two light spots on the ground is the area where the geometric shape of the light spot on the ceiling is vertically projected on the ground. When the light spot is projected on the ground, the two light spots The projection area of ​​the geometric shape formed on the ground is the area formed by the spot itself on the grou...

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Abstract

The invention provides a method and a system for the robot navigation based on a virtual wall for projection, and relates to the technical field of robot navigation. The navigation method comprises the steps of: detecting spot information projected onto the ceiling or the ground; and determining a motion range of the robot according to the light spot information and the position information of therobot. According to the method and the system for the robot navigation based on the virtual wall for the projection, the system utilizes a spot emitting device to project spots to the ceiling or theground, determines the motion range of the robot, according to a geometric shape formed by one or more spots and the relative positional relationship of the robot, and further carry on a preset operation in the motion range.

Description

technical field [0001] The invention relates to the technical field of robot navigation, in particular to a robot navigation method and system based on projected virtual walls. Background technique [0002] Smart home is increasingly becoming a way of life for young people, and robots (such as sweeping robots) can enter the home, freeing people from daily housework. The current navigation of sweeping robots is mainly based on random collision, inertial navigation and laser navigation. The cleaning efficiency of random collision and inertial navigation is low; the cost of laser navigation is high, and the laser head wears out quickly, so it is difficult to guarantee long-term work. When the sweeping robot is unmanned, automatic cleaning in a certain area may enter some areas that users do not want the sweeping robot to enter, such as the area where children's toys are piled up. After entering, the sweeping robot may remove some small parts of the toys. Inhale the dust box; ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0242G05D1/0253G05D1/0276
Inventor 朱泽春余杰
Owner JOYOUNG CO LTD
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