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Self-propelled robot and control method thereof

A control method and robot technology, applied in machine parts, non-electric variable control, control/adjustment systems, etc., can solve the problem that the sweeping robot is easy to collide with the bulge on the wall, and achieve the effect of reducing the walking speed

Pending Publication Date: 2020-11-17
SHARKNINJA CHINA TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the existing sweeping robot is easy to collide with the protrusion on the wall, the present disclosure provides a control method of a self-propelled robot, the self-propelled robot is provided with obstacles object sensor, the control method includes:

Method used

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  • Self-propelled robot and control method thereof
  • Self-propelled robot and control method thereof
  • Self-propelled robot and control method thereof

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example 3

[0077] Example 3: Obstacle sensor The sensor is an image acquisition device. The image acquisition device acquires images around the self-propelled robot, and then judges from the acquired images whether there are obstacles around the self-propelled robot.

[0078] Step S120, extracting at least three feature points of the aforementioned obstacle;

[0079] Wherein, the aforementioned at least three feature points are all on the same plane or almost on a plane, and the plane is parallel to the horizontal plane.

[0080] Specifically, any feasible number of feature points such as 3 feature points, 4 feature points, and 5 feature points on the aforementioned obstacle may be extracted.

[0081] More specifically, as Figure 6 As shown, according to the sequence from the front to the back, the aforementioned at least three feature points are recorded as D1 in turn (such as Figure 6 Point A shown in ), D2 (such as Figure 6 Point B shown in )...Dn (such as Figure 6 N points sh...

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Abstract

The invention provides a control method of a self-propelled robot, wherein the self-propelled robot is provided with an obstacle sensor. The control method comprises the following steps: detecting anobstacle through the obstacle sensor; extracting at least three feature points of the obstacle; fitting the curvature of at least part of the contour line of the corresponding obstacle based on the atleast three feature points; and controlling the self-propelled robot to advance according to the curvature. By means of the control method, the self-propelled robot can obtain the curvature of the obstacle in time, then the self-propelled robot can determine whether protrusions and recesses exist on the obstacle or not, so that the self-propelled robot can make corresponding strategies, and the self-propelled robot is prevented from colliding with the protrusions on the obstacle.

Description

technical field [0001] The disclosure belongs to the technical field of artificial intelligence, and specifically provides a self-propelled robot and a control method thereof. Background technique [0002] With the improvement of living standards, smart sweepers are entering more and more families. [0003] In the prior art, when the sweeping robot cleans along the side, it needs to adjust its walking direction so as to keep a constant distance between the sweeping robot and the wall. In the process of cleaning along the edge, the sweeping robot usually advances at a constant speed, and there are the following problems: when there is a bump on the wall, the sweeping robot is likely to hit the bump on the wall because it does not slow down in time. [0004] In order to solve this technical problem, the existing sweeping robot can obtain the map in the room from the user's mobile phone, or automatically scan the environment in the room through the technology of SLAM (Synchron...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02A47L11/24A47L11/40
CPCG05D1/0219G05D1/0223G05D1/0238G05D1/0257A47L11/24A47L11/4011A47L11/4061
Inventor 王旭宁孙斌
Owner SHARKNINJA CHINA TECH CO LTD
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