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Detection method and device, mobile robot and storage medium

A mobile robot and detection method technology, applied in the field of intelligent robots, can solve the problems of long time-consuming and low work efficiency in mapping

Active Publication Date: 2019-06-28
云鲸智能创新(深圳)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present application provides a detection method, device, mobile robot and storage medium, which can solve the problems of repeated detection by mobile robots, long time-consuming mapping, and low work efficiency

Method used

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  • Detection method and device, mobile robot and storage medium
  • Detection method and device, mobile robot and storage medium
  • Detection method and device, mobile robot and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0158] Image 6 It is a flow chart of a detection method shown according to an exemplary embodiment. This embodiment uses the application of the detection method in a mobile robot for illustration. The detection method may include the following steps:

[0159] Step S1: The mobile robot obtains the first regional environment map by detecting the regional environment with the detection sensor. The first regional environmental map includes the outer contour information and the undetected area of ​​the regional environment that the mobile robot can currently detect. The outer contour information includes the surrounding area Obstacle information around the environment. Obstacle information indicates walls around the area environment, obstacles placed close to the walls, and free obstacles. Free obstacles are those whose distance from other obstacles on the outer contour of the area environment is less than or equal to the width of the robot body. of obstacles.

[0160] In daily l...

Embodiment 2

[0176] Please refer to Figure 12 , in another embodiment, the detection method may include the following implementation process:

[0177] Step 1201: The mobile robot obtains the first area environment map by detecting the area environment with the detection sensor. The first area environment map includes the outer contour information and undetected area of ​​the area environment that the mobile robot can currently detect. The outer contour information includes the surrounding area Obstacle information around the environment. Obstacle information indicates walls around the area environment, obstacles placed close to the walls, and free obstacles. Free obstacles are those whose distance from other obstacles on the outer contour of the area environment is less than or equal to the width of the robot body. of obstacles.

[0178] Its specific implementation can refer to the above Image 6 Step S1 in the example.

[0179] As an example, when the distance between a free obstacle ...

Embodiment 3

[0194] Figure 13 It is a flow chart of a detection method shown according to another exemplary embodiment. This embodiment uses the application of the detection method in a mobile robot for illustration. The detection method may include the following steps:

[0195] Step 1301: The mobile robot drives out from the base station, and obtains a first regional environment map by detecting the regional environment with the detection sensor. The first regional environmental map includes the outer contour information of the regional environment that the mobile robot can currently detect and the undetected area. The contour information includes obstacle information around the surrounding area environment. The obstacle information indicates the walls around the area environment, obstacles placed close to the walls, and free obstacles. An obstacle equal to the width of the robot body.

[0196] Its specific implementation can refer to the above Image 6 Step S1 in the example.

[0197...

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Abstract

The invention discloses a detection method, a detection device, a mobile robot and a storage medium, and belongs to the technical field of intelligent robots. The detection method is applied to the mobile robot, and comprises the following steps: detecting a regional environment through a detection sensor by the mobile robot to acquire a first regional environment map; based on the first regionalenvironment map, determining a detection target point, and based on the detection target point, generating a first detection path; in the process of moving according to the first detection path, detecting the regional environment through the detection sensor by the mobile robot to acquire a second regional environment map; when the mobile robot detects that the detection path executed by the mobile robot ends, generating a first detection route by the mobile robot based on the second regional environment map, and determining a third regional environment map according to the first detection path; circularly executing operation of determining the regional environment maps until the mobile robot detects that the whole regional environment map is completely drawn. According to the embodiment of the invention, the time spent for mapping by the mobile robot is shortened and the working efficiency is improved.

Description

technical field [0001] The present application relates to the technical field of intelligent robots, in particular to a detection method, device, mobile robot and storage medium. Background technique [0002] Currently, mobile robots such as sweeping robots and mopping robots are widely used. This type of mobile robot generally needs to detect the regional environment during the working process, so as to draw a map of the regional environment according to the detection results, so as to automatically complete the cleaning of the regional environment based on the map. [0003] In the prior art, a mobile robot is used with a base station. The base station is used to clean the mobile robot or to charge the mobile robot. The mobile robot uses a carpet search method to search and detect from the base station to the periphery according to the bow-shaped moving track. Use sensors to detect during the movement process, until all feasible areas are traversed, and use the detection d...

Claims

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Application Information

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IPC IPC(8): G01S17/93G01C21/16G01C21/20G05D1/02G01S17/931
CPCG05D1/0274G05D1/024G01S17/931A47L2201/04A47L2201/02A47L11/4011G05D1/02G01C21/16G01C21/20G01S17/93G01C21/1652G01C21/206G01C21/383G05D1/0219
Inventor 吴一昊梁康华
Owner 云鲸智能创新(深圳)有限公司
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