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
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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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