Floor washing robot obstacle avoidance control method and device and floor washing robot
A control method and technology of a control device, which are applied in directions such as non-electric variable control, control/regulation system, two-dimensional position/channel control, etc., can solve problems such as the inability of the scrubber to distinguish around obstacles, and ensure cleaning coverage, Increase the distance around obstacles and ensure the safety of personnel
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Embodiment 1
[0026] In some alternative examples, please refer to figure 1 , figure 1 It is a schematic flowchart of an embodiment of an obstacle avoidance control method for a scrubbing robot in the present application.
[0027] Such as figure 1 As shown, the first aspect of the present application provides an obstacle avoidance control method for a scrubbing robot, including:
[0028] S1100. Determine obstacles in the environment where the floor scrubber is located;
[0029] The washing machine is equipped with a processor, and the obstacle avoidance control method of the washing robot provided by this application is implemented by the processor. The processor can be an actual processor installed in the washing machine, or a virtual processor in the cloud. This is not specifically limited.
[0030] When the scrubber starts to work, the processor determines the obstacles in the environment where the scrubber is located. Specifically, the obstacles can be determined by collecting image...
Embodiment 2
[0038] Such as figure 1 As shown, when step S1200 is executed, and it is determined that the obstacle does not meet the preset characteristic condition of human legs, step S1400 is executed.
[0039] S1400, according to the preset fixed obstacle avoidance strategy, control the scrubber to avoid obstacles and bypass obstacles.
[0040]The fixed obstacle avoidance strategy is the default method for the system to circumvent obstacles. The fixed obstacle avoidance strategy can be set in the processor. When the processor judges that the obstacle is not a human leg, it can be controlled according to the fixed obstacle avoidance strategy. The scrubber performs obstacle avoidance operation, or take the above-mentioned first obstacle and second obstacle as an example. The first obstacle is a stool, and the second obstacle is a human leg. During the working process of the scrubber, the scrubber detects to the first obstacle in the environment, and then compare the characteristics of th...
Embodiment 3
[0042] In some alternative embodiments, see figure 2 , figure 2 It is a schematic flow chart of determining obstacles in the environment according to an embodiment of the present application.
[0043] Such as figure 2 As shown, the steps for determining the obstacles in the environment where the scrubber is located include the following steps:
[0044] S1110. Collect the environment image of the environment where the floor scrubber is located;
[0045] S1120. Determine obstacles in the environment according to the environment image and the preset static map of the scrubber.
[0046] During implementation, the washing machine is equipped with an image acquisition device such as a camera or a laser radar, and the environmental image of the environment where the washing machine is collected is collected by the image acquisition device, and the processor obtains the collected environmental image and compares it with the preset static state of the washing machine. The static...
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