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Symmetric environment repositioning method and device and robot

A robot and relocation technology, applied in the field of sweeping robots, can solve problems such as relocation errors, and achieve the effect of partial relocation

Pending Publication Date: 2021-01-26
SHENZHEN TOPBAND
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a relocation method for a symmetrical environment, aiming to solve the problem of relocation errors in a symmetrical environment

Method used

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  • Symmetric environment repositioning method and device and robot
  • Symmetric environment repositioning method and device and robot
  • Symmetric environment repositioning method and device and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] In some alternative embodiments, see figure 1 , figure 1 It is a schematic flowchart of a method for symmetric environment relocation according to an embodiment of the present application.

[0049] Such as figure 1 As shown, the present application provides a symmetric environment relocation method, including:

[0050] S1100. Obtain point cloud information of the environment where the robot is located, where the point cloud information includes environmental information of the environment where the robot is located and heading angle information of the robot;

[0051] Point cloud information can be environmental information collected by laser radar. Laser radar is a measurement equipment that integrates laser scanning and positioning and attitude determination systems. The laser radar system includes a laser and a receiving system. Its working principle is that the laser generates and emits A pulse of light, which hits an object and bounces back, is eventually picked ...

Embodiment 2

[0062] In some alternative embodiments, see Figure 4 , Figure 4 It is a schematic flow chart of loading a map in an embodiment of the symmetric environment relocation method of the present application.

[0063] Such as Figure 4 As shown, before the step of obtaining the point cloud information of the robot's environment, it also includes:

[0064] S1010. Obtain storage address information of the world map, wherein the world map includes a target area composed of multiple cleaning areas;

[0065] During the working process of the robot, the cleaning environment is scanned and the cleaning trajectory is planned to build a world map, and the cleaning environment is divided into multiple cleaning areas. For example, the household cleaning area is divided into multiple cleaning areas on the household cleaning map (such as network The target area is composed of multiple cleaning areas. Take the family environment including the living room and the bedroom as an example. The liv...

Embodiment 3

[0069] In some alternative embodiments, see Figure 5 , Figure 5 It is a schematic flowchart of locating the target position in an embodiment of the symmetric environment relocation method of the present application.

[0070] Such as Figure 5 As shown, the steps of locating the target position of the robot in the preset world map according to the target environment information include:

[0071] S1410. Extract any cleaning area in the target area as the target position, and compare the target position with the environment represented by the target environment information;

[0072] S1420. When the target position does not match the environment represented by the target environment information, extract the next cleaning area as the target position until the target position matches the environment represented by the target environment information.

[0073] The target area includes multiple cleaning areas, and the system compares the cleaning area in the target area with the t...

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Abstract

The invention is suitable for the technical field of sweeping robots, and provides a symmetric environment repositioning method and device and a sweeping robot, and the method comprises the steps: obtaining point cloud information of an environment where the robot is located, and the point cloud information comprises the environment information of the environment where the robot is located and thecourse angle information of the robot; determining a first angle for limiting repositioning of the robot according to the course angle information; extracting target environment information matched with the first angle in the environment information; and positioning a target position of the robot in a preset world map according to the target environment information, and taking position information mapped by the target position as real-time positioning information of the robot. According to the embodiment of the invention, an IMU is used for assisting repositioning so as to limit the repositioning environment contour of the robot, so that a correct position can be screened out according to the heading angle and the pose angle of the robot, wrong symmetrical positions are eliminated, and local repositioning of the sweeping robot in a symmetrical environment is realized.

Description

technical field [0001] The invention belongs to the technical field of sweeping robots, and in particular relates to a symmetrical environment repositioning method, device and robot. Background technique [0002] Sweeping robot, also known as automatic cleaning machine, smart vacuum cleaner, robot vacuum cleaner, etc., is a kind of smart household appliances, which can automatically complete the floor cleaning work in the room by virtue of certain artificial intelligence. Sweeping robots generally use brush sweeping and vacuum methods to absorb ground debris into their own garbage storage boxes, thereby completing the function of ground cleaning. Existing sweeping robots need to plan cleaning trajectories during cleaning, which requires the sweeping robot to be able to perform accurate autonomous positioning. [0003] In the actual working process of the sweeping robot, positioning errors will occur in a symmetrical environment, and the symmetrical environment is common in ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0251G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0285
Inventor 于欢杨庆辉
Owner SHENZHEN TOPBAND
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