Method for prolonging service life of laser radar of mobile robot, chip and robot
A mobile robot, lidar technology, used in instruments, motor vehicles, transportation and packaging, etc., can solve the problems of expensive lidar, insufficient lidar life, loss and other problems
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Embodiment 1
[0033] In this example, if figure 2 As shown, it is assumed that the sweeping robot completes the cleaning of room 1, and then plans the next work plan through the planning unit. Since it is detected that room 2 has not been cleaned, the robot sweeper will first navigate to room 2 and then clean room 2 in the next step. According to the planned work plan, the sweeping robot calculates the distance to move from the current position to room 2 through the distance calculation unit. Assuming that the distance is greater than the preset distance, in order to make the positioning and navigation more accurate, the sweeping robot controls the lidar to turn on (if it is already on, ignore it), and then navigates from point A to point B. Among them, point A is the cleaning end point of room 1, point B is the starting point of room 2 cleaning, the dotted line between the two points is the navigation route planned by the planning unit, and object T is an obstacle. In the process of nav...
Embodiment 2
[0035] In the previous embodiment, after the sweeping robot finishes cleaning the room 2, the next task planned by the planning unit is to clean the living room 3. refer to figure 2 , the sweeping robot judges that the area of the living room 3 is larger than the preset area, so before cleaning the living room 3, it will control the lidar to turn on. It should be noted that, from room 2 to living room 3, the sweeping robot needs to navigate from point C to point B. Due to the short distance, the sweeping robot keeps the lidar off until it moves to point B. When working in a large area, since there may be many static or dynamic obstacles in the working area and the walking distance is long, the use of laser radar and vision sensors at the same time can improve the positioning, navigation and obstacle avoidance capabilities of the sweeping robot.
Embodiment 3
[0037] In the previous embodiment, after the sweeping robot finishes cleaning the living room 3, it detects that all areas have been cleaned. Therefore, the next job planned by the planning unit is to return to base station D for charging. In this embodiment, base station D is regarded as a point, so returning to base station D means that the cleaning robot navigates from the current point to point D. If the distance calculated by the distance calculation unit exceeds the preset distance, the sweeping robot will turn on the laser radar to cooperate with the vision sensor for navigation, otherwise the laser radar will not be used. It should be noted that when the sweeping robot returns to the base station D by walking along the side, only the vision sensor can meet the navigation requirements, so the lidar is turned off. In the process of walking along the side, the robot will encounter different obstacles. In order to effectively simplify the description of the indoor environ...
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