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Operating method and self-moving equipment

A self-moving and equipment technology, applied in the fields of motor vehicles, non-electric variable control, instruments, etc., can solve the problems that the machine cannot retreat from the carpet, affect the cleaning experience, low operation efficiency, etc., to improve the intelligence and use experience. , The effect of improving the performance of edge operations and reducing the probability of mistakenly entering a specific area

Pending Publication Date: 2021-12-03
ECOVACS ROBOTICS (SUZHOU ) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the prior art, the sweeping robot recognizes the carpet in contact with the ultrasonic sensor, side brush, roller brush and other components at the bottom of the machine, and retreats from the carpet after recognizing the carpet to avoid the carpet area, but this working method The machine may not be able to retreat from the carpet, resulting in lower overall operating efficiency, affecting the cleaning experience, and even causing abnormal cleaning

Method used

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  • Operating method and self-moving equipment
  • Operating method and self-moving equipment
  • Operating method and self-moving equipment

Examples

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example 1

[0108] Home service robots mainly work in the home environment. Such as Figure 9 As shown, it is a more common floor plan in real life. The home service robot's work area may be the master bedroom, living room, second bedroom, kitchen, bathroom, balcony and other areas. When the home service robot is moving in the work area, the structured light component in the structured light module can be used to collect the structured light data in the home environment, and based on the structured light data, the boundary of a specific area existing in the work area in front of the home service robot can be identified information. In addition, the visual sensor (such as an RGB camera) in the structured light module can also be used to collect RGB image data in the home environment, and based on the RGB image data, identify the object category that defines a specific object in the work area in front of the home service robot.

[0109] see Figure 9 , when the sweeping robot is working ...

example 2

[0113] see Figure 4c , if the sweeping robot is in the mopping mode, if it recognizes that there is a carpet in the home environment based on the structured light data and / or RGB image data, then the boundary information of the carpet is identified based on the structured light data, and the sweeping robot is controlled to mop the floor Travel along the border of the carpet to avoid the situation where the sweeping robot crosses over the carpet and gets trapped by the longer carpet hairs when mopping the floor. That is to say, the sweeping robot will bypass the carpet to mop the floor when mopping the floor. Of course, if the sweeping robot is in the sweeping mode, when it recognizes that there is a carpet in the home environment based on the structured light data and / or RGB image data, it can cross over to the carpet for cleaning.

example 3

[0115] Take an outdoor lawn mowing robot mowing outdoors as an example. For an outdoor lawn mowing robot, various ditches and depressions in the ground environment are specific areas that need to be avoided. Where there is grass in the ground environment is not a specific area to avoid, but an area to work on that needs to be mowed. Therefore, when the outdoor lawn mowing robot is mowing the lawn, if it is recognized based on the structured light data and / or RGB image data that various ditches, depressions, etc. are specific areas that need to be avoided, then along the boundary of the specific area Perform sideways movement to avoid the danger of entering certain areas. If a grassy area is identified based on the structured light data and / or RGB image data, then enter the grassy area for mowing.

[0116] It should be noted that the subject of execution of each step of the method provided in the foregoing embodiments may be the same device, or the method may also be executed ...

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Abstract

The embodiment of the invention provides an operation method and self-moving equipment. In the embodiment of the invention, the self-moving equipment can identify the specific area through the environment information collected by the structured light module on the premise that the self-moving equipment does not need to contact the specific area, namely, the self-moving equipment can automatically identify the specific area in the front area in a non-contact manner; the occurrence probability that the self-moving equipment enters a specific area by mistake is reduced, the working efficiency and the working performance of the self-moving equipment are improved, and the intelligence and the use experience of the self-moving equipment are also improved. Meanwhile, the first boundary information of the specific area is identified according to the environment information of the front area collected by the structured light module, and the self-moving equipment is accurately controlled to advance to a first position close to the boundary of the specific area; and the operation task is continuously executed along the boundary of the specific area by using the boundary information of the specific area collected by the structured light module in the edge operation process, so that the edge operation performance of the self-moving equipment for the specific area can be further improved.

Description

technical field [0001] This application relates to the technical field of artificial intelligence, in particular to an operation method and self-moving equipment. Background technique [0002] With the continuous development of computer technology, sensor technology and artificial intelligence technology, the application of intelligent robots is becoming more and more extensive. For example, in the home service scene, there are sweeping robots that perform cleaning tasks, window cleaning robots that perform window cleaning tasks, and air cleaning robots that perform air purification tasks. [0003] In practical applications, the working environment for intelligent robots to perform tasks is relatively complex, and there may be some dangerous areas, such as carpet areas that are prone to getting stuck for sweeping robots. This requires intelligent robots to be able to avoid these dangerous areas during the work process and prevent the work tasks from being interrupted abnorm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0242G05D1/0251G05D1/0257G05D1/0263G05D1/0223G05D1/0214G05D1/0221G05D1/028G05D1/0276
Inventor 姜家鑫单俊杰
Owner ECOVACS ROBOTICS (SUZHOU ) CO LTD
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