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Method and system for creating environment map for autonomously traveling ground processing device

A technology for processing equipment and environmental maps, applied to cleaning equipment, control/regulation systems, cleaning carpets, etc., to achieve time-saving effects

Pending Publication Date: 2021-04-27
VORWERK & CO INTERHOLDING GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Although methods of the above type provide satisfactory results when a sufficient number of characterizing features are found in the dataset of environmental subregions, it is difficult to integrate Subregions are merged into a common environment map

Method used

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  • Method and system for creating environment map for autonomously traveling ground processing device
  • Method and system for creating environment map for autonomously traveling ground processing device

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Embodiment Construction

[0022] figure 1 A system of two floor treatment devices 1 , 2 is shown, which are designed here as mobile cleaning devices, for example. Each of the ground handling devices 1 , 2 has a navigation device 20 which has, for example, a distance measuring device, in particular a laser distance sensor. The navigation device 20 detects objects 6 within the surroundings relative to the respective ground handling equipment 1, 2 (see figure 2 ) and create an environment map 3, 4 therefrom. The object 6 can be on the one hand a wall, a window, a door frame, a door leaf, an object for arrangement, furniture, etc., and on the other hand can be an object 6 belonging to the system of the ground handling equipment 1, 2, here the ground handling equipment 1, 2 itself and the base stations 12,13 for the ground processing equipment 1,2. For example, the distance sensor can have a laser diode, the emitted light beam of which is led out of the housing of the ground handling device 1 , 2 via a ...

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Abstract

The invention relates to a method for creating an environment map for an autonomously traveling ground processing device. A first ground processing device detects first characteristic data of the environment and processes the first characteristic data of the environment into a first environment map. A second ground processing device detects second characteristic data of the environment and processing the second characteristic data of the environment into a second environment map. The first and second environment maps are combined into a common environment map. In order to be able to splice environment maps of a plurality of robots even when an overlap region is small, the first ground processing device recognizes an object as a positioning point and stores position information of the positioning point in the first environment map, and the second ground processing device identifies the same object as a positioning point, stores the position information of the positioning point in the second environment map, and combines the environment map into a common global environment map according to the position information of the positioning point. The invention also relates to a system consisting of the autonomously traveling first ground processing device and the autonomously traveling second ground processing device.

Description

technical field [0001] The invention relates to a method for creating an environment map for an autonomously traveling ground-processing device, wherein a first ground-processing device detects first characteristic data of the environment and processes the first characteristic data into a first environment map, wherein , the second ground processing device detects the second feature data of the environment and processes the second feature data into a second environment map, wherein the first environment map and the second environment map are combined into a common environment map. [0002] Furthermore, the invention relates to a system consisting of at least one autonomously traveling first ground-handling installation and at least one autonomously traveling second ground-handling installation. Background technique [0003] Autonomously traveling ground handling devices are sufficiently known in the prior art. Patent document EP 2 330 471 B1 discloses, for example, an auton...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A47L11/24A47L11/40
CPCA47L11/24A47L11/4002A47L11/4011A47L11/4061A47L11/4091A47L11/4094G05D1/0274G05D1/0291G05D1/0234G06V20/10G06V10/245G05D1/0219G05D1/0236A47L2201/06
Inventor A.莫塞巴赫M.巴本海姆H.海因
Owner VORWERK & CO INTERHOLDING GMBH
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