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Intelligent cleaning robot mechanical arm visual obstacle avoidance control method

A technology for cleaning robots and control methods, which is applied in the field of cleaning robots, can solve problems such as inability to complete navigation and operations, poor stability of obstacle avoidance, collision damage of cleaning robots, etc., and achieve the effects of improving safety, prolonging service life, and avoiding collisions

Pending Publication Date: 2022-01-04
洁博士南京环保设备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, in actual situations, due to the different operating environments of robots, in some operating environments, it is not possible to use radar data and safe areas to determine whether to avoid obstacles.
The system judges that the obstacle is close to the robot, but in fact the robot may not collide with the obstacle, which will force the robot to brake immediately, resulting in the inability to complete navigation and work, and the existing obstacle avoidance methods cannot accurately determine the robot The obstacle avoidance strategy is poor, and the stability of obstacle avoidance is poor, which makes the cleaning robot prone to collision damage

Method used

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Embodiment 1

[0027] A control method for visual obstacle avoidance of an intelligent cleaning robot manipulator, the method comprising the following steps:

[0028] (1) Working environment data collection: The cleaning robot scans the working environment through the visual system to collect the environmental data of the working environment. The visual system uses the laser radar and the ranging sensor to scan the environmental data. The environmental data is the scanning data of the laser radar, and The scanning data corresponds to the scanning point of the obstacle, which can detect and record the distance between the cleaning robot and the obstacle in all directions, judge whether the obstacle is in the safe area of ​​the robot, and then avoid the obstacle;

[0029] (2) Data signal processing: The processing system obtains the environmental data collected by the vision system, and then filters the initial scanning data to obtain the scanning data. The filtering process is to filter out th...

Embodiment 2

[0035] A control method for visual obstacle avoidance of an intelligent cleaning robot manipulator, the method comprising the following steps:

[0036] (1) Working environment data collection: The cleaning robot scans the working environment through the visual system to collect the environmental data of the working environment. The visual system uses the laser radar and the ranging sensor to scan the environmental data. The environmental data is the scanning data of the laser radar, and The scanning data corresponds to the scanning point of the obstacle, which can detect and record the distance between the cleaning robot and the obstacle in all directions, judge whether the obstacle is in the safe area of ​​the robot, and then avoid the obstacle;

[0037] (2) Data signal processing: The processing system obtains the environmental data collected by the vision system, and then filters the initial scanning data to obtain the scanning data. The filtering process is to filter out th...

Embodiment 3

[0043] A control method for visual obstacle avoidance of an intelligent cleaning robot manipulator, the method comprising the following steps:

[0044](1) Working environment data collection: The cleaning robot scans the working environment through the visual system to collect the environmental data of the working environment. The visual system uses the laser radar and the ranging sensor to scan the environmental data. The environmental data is the scanning data of the laser radar, and The scanning data corresponds to the scanning point of the obstacle, which can detect and record the distance between the cleaning robot and the obstacle in all directions, judge whether the obstacle is in the safe area of ​​the robot, and then avoid the obstacle;

[0045] (2) Data signal processing: The processing system obtains the environmental data collected by the vision system, and then filters the initial scanning data to obtain the scanning data. The filtering process is to filter out the...

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Abstract

The invention relates to the technical field of cleaning robots, in particular to an intelligent cleaning robot mechanical arm visual obstacle avoidance control method, which comprises the following steps that a cleaning robot scans an operation environment through a visual system, environment data of the operation environment are collected, a processing system obtains the environment data collected by the visual system, and the initial scanning data is filtered to obtain scanning data. The intelligent cleaning robot mechanical arm visual obstacle avoidance control method has the advantages that the obstacle can be accurately scanned, the robot is facilitated to avoid the obstacle, and the cleaning robot is prevented from colliding with the obstacle, so that the safety of the cleaning robot is effectively improved; the problems that an existing obstacle avoidance method cannot accurately decide the obstacle avoidance strategy of the robot, the obstacle avoidance stability is poor, and consequently the cleaning robot is prone to collision damage are solved, and the service life of the cleaning robot can be prolonged.

Description

technical field [0001] The invention relates to the technical field of cleaning robots, in particular to a control method for visual obstacle avoidance of a mechanical arm of an intelligent cleaning robot. Background technique [0002] The cleaning robot is a kind of smart home appliance, which can automatically complete the floor cleaning work in the room by virtue of certain artificial intelligence. Generally, brushing and vacuuming are used to absorb the debris on the ground into its own garbage storage box, so as to complete the function of ground cleaning. [0003] During the navigation process of the cleaning robot, there are often obstacles, so the obstacle avoidance of the robot is more important for the normal operation of the robot. The laser radar is usually used to obtain the environmental information around the cleaning robot in real time, and the laser radar data records the distance of the obstacles in all directions of the laser radar in a period of time. T...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A47L11/24A47L11/40
CPCA47L11/24A47L11/40A47L11/4011A47L11/4061A47L2201/04
Inventor 张宁宁张盼盼
Owner 洁博士南京环保设备有限公司
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