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Obstacle map construction method, cleaning robot and storage medium

A technology for cleaning robots and map construction. It is used in cleaning machinery, automatic detection of obstacles, cleaning equipment, etc. It can solve the problems of cumbersome operation, poor experience, manual labeling, etc., and achieve high labeling accuracy, simple and convenient operation, and good experience. effect of effect

Active Publication Date: 2022-01-11
DREAM INNOVATION TECH (SUZHOU) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Therefore, the technical problem to be solved by the present invention is manual labeling and adding obstacle semantics when building an obstacle map, cumbersome operation, poor experience, and low labeling accuracy

Method used

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  • Obstacle map construction method, cleaning robot and storage medium
  • Obstacle map construction method, cleaning robot and storage medium
  • Obstacle map construction method, cleaning robot and storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0047] like figure 1 As shown, the present embodiment provides a method for constructing an obstacle map, the method comprising:

[0048] S100. Acquiring image information in the traveling direction of the cleaning robot;

[0049] In this embodiment, the cleaning robot may be provided with a camera, and when the cleaning robot moves in the cleaning area, the image information in the traveling direction of the cleaning robot may be obtained by controlling the camera to shoot.

[0050] Moreover, the cleaning robot can be controlled to rotate on the spot, and image information around the cleaning robot can be obtained; the cleaning robot can also be controlled to move from one cleaning area to another, and image information in multiple cleaning areas can be obtained.

[0051] Therefore, the cleaning robot can be controlled to move and walk in all cleaning areas that need to be cleaned, so as to obtain image information in all cleaning areas.

[0052] S200. When it is judged acc...

Embodiment 2

[0094] like image 3 As shown, the present embodiment provides an obstacle map construction system 10, including an image acquisition module 12, an obstacle position acquisition module 14 communicatively connected with the image acquisition module 12, and a map construction system communicatively connected with the obstacle position acquisition module 14 Module 16.

[0095] Wherein, the image acquisition module 12 is used to acquire the image information on the direction of travel of the cleaning robot; the obstacle position acquisition module 14 is used to determine the position of the target obstacle when it is judged that there is a target obstacle in the direction of travel of the cleaning robot according to the image information Information; the map building module 16 is used to add location information to the grid map of the cleaning area to build an obstacle map.

[0096] Further, the obstacle position acquisition module 14 may include an obstacle detection module 142 , ...

Embodiment 3

[0104] like image 3 As shown, the present embodiment proposes a cleaning robot 100, including a robot body 110, a camera 120 disposed on the robot body 110, and a controller disposed on the robot body 110 and connected in communication with the camera 120 (not shown in the figure). ).

[0105] The camera 120 is used to acquire image information in the traveling direction of the cleaning robot 100 . Moreover, the camera 120 may be one of depth cameras such as a TOF camera, a monocular camera, a binocular camera, and a structured light camera.

[0106] The controller is used to: control the camera 120 to obtain image information in the direction of travel of the cleaning robot; determine the position information of the target obstacle when judging from the image information that there is a target obstacle in the direction of travel of the cleaning robot; add the position information to grid map of the clean area to build an obstacle map. Moreover, the controller can be arran...

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Abstract

The invention relates to an obstacle map construction method, a cleaning robot and a storage medium. The obstacle map construction method comprises the steps of acquiring image information in the advancing direction of the cleaning robot; under the condition that it is judged that a target obstacle exists in the advancing direction of the cleaning robot according to the image information, determining position information of the target obstacle; and adding the position information into a grating map of the clean area to construct an obstacle map. According to the invention, the problems of tedious operation, poor experience and low labeling accuracy caused by manual labeling and adding of obstacle semantics during construction of an obstacle map in the prior art can be solved.

Description

technical field [0001] The invention relates to the technical field of cleaning equipment, in particular to an obstacle map construction method, a cleaning robot and a storage medium. Background technique [0002] With the continuous development of automation technology and artificial intelligence technology, various self-moving cleaning equipment such as cleaning robots are more and more widely used. Among them, the cleaning robot, as a kind of intelligent cleaning equipment, can automatically complete the cleaning work of the ground. Moreover, in the process of cleaning the ground, the cleaning robot needs to automatically build an obstacle map of the cleaning area, and distinguish obstacles in the cleaning area so as to avoid them during the cleaning process. [0003] In the traditional technology, when the cleaning robot constructs the obstacle map, it needs to manually mark the obstacles and add semantics, the operation is cumbersome, and the user experience is poor; m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A47L11/40A47L11/24A47L11/28
CPCA47L11/4011A47L11/4061A47L11/40A47L11/4008A47L11/24A47L11/28A47L2201/04
Inventor 郁顺昌王朕汤盛浩
Owner DREAM INNOVATION TECH (SUZHOU) CO LTD
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