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Cliff detection method, control method of mobile robot and mobile robot

A mobile robot and robot body technology, applied in the field of mobile robots, can solve the problem of mobile robots falling off cliffs easily, and achieve the effects of reducing the risk of falling into the cliff area, improving accuracy, and reducing inertia

Active Publication Date: 2020-02-28
SHANGHAI FLYCO ELECTRICAL APPLIANCE
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  • Abstract
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  • Claims
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Problems solved by technology

Therefore, during the working process of the mobile robot, if the detection of the cliff area is inaccurate and misjudgment occurs, the mobile robot will easily fall off the cliff.

Method used

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  • Cliff detection method, control method of mobile robot and mobile robot
  • Cliff detection method, control method of mobile robot and mobile robot
  • Cliff detection method, control method of mobile robot and mobile robot

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Embodiment Construction

[0065] refer to Figure 1A with Figure 1B , an embodiment of the mobile robot 100 provided in the present application includes: a robot body 110 , an image acquisition unit 120 , a dust collection unit 130 , a left wheel 141 and a right wheel 142 .

[0066] The robot body 110 includes a processing unit 111, a memory 112 and a drive unit 113.

[0067] The image acquisition unit 120 may include but not limited to: a ToF (Time of Flight) image sensor 121 , an RGB sensor 122 or a structured light image sensor 123 .

[0068] The ToF image sensor 121 can measure the distance from the robot body 110 to the ground reference point in front according to the time difference between the emitted light and the received light, and generate an image containing the depth information and brightness information of the ground in front according to the above distance.

[0069] The RGB sensor 122 can capture an RGB image of the ground ahead, and the RGB image is also called a color image.

[007...

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Abstract

A cliff detection method comprises the following steps: acquiring an image of a ground area in front of a robot body; determining a cliff area in a front ground area based on the depth image information and the brightness information; according to the depth image information, determining that the vertical distance between a detection area in the front ground area and the image acquisition unit isgreater than a preset vertical distance; determining that the brightness of the image corresponding to the detection area is greater than or equal to a preset brightness value according to the brightness information of the collected image, and determining that the detection area is a cliff area when the size of the detection area meets a preset size condition. According to the method, the cliff inthe front ground area can be effectively detected. The invention further provides a control method of the mobile robot and the mobile robot capable of realizing the method. The cliff area in the front ground area can be effectively detected, and the accuracy of cliff area detection is improved.

Description

technical field [0001] The present application relates to the field of automatic control, in particular to a cliff detection method, a mobile robot control method and the mobile robot. Background technique [0002] A mobile robot refers to a machine device that can move and perform work automatically. In the working environment, it is often encountered a cleaning environment with a height difference (such as cleaning on the edge of stairs, cleaning on a tabletop, etc.), that is, a cliff area. Therefore, during the working process of the mobile robot, if the detection of the cliff area is inaccurate and misjudgment occurs, the mobile robot will easily fall off the cliff. Contents of the invention [0003] In view of this, the present application provides a cliff detection method, a mobile robot control method and a mobile robot, which can improve the accuracy of detecting cliff areas. [0004] The first aspect provides a mobile robot, including: a robot body, an image acq...

Claims

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Application Information

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IPC IPC(8): G06K9/00G05D1/02
CPCG05D1/0242G05D1/0246G06V20/10
Inventor 龚凯
Owner SHANGHAI FLYCO ELECTRICAL APPLIANCE
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