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Map partitioning and construction method, object recognition and cleaning method, equipment and storage medium

A device and partitioning technology, applied in image analysis, character and pattern recognition, image enhancement, etc., can solve the problem of inaccurate partitioning and achieve the effect of improving accuracy

Pending Publication Date: 2022-05-13
ECOVACS ROBOTICS (SUZHOU ) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, existing partitions are not accurate enough

Method used

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  • Map partitioning and construction method, object recognition and cleaning method, equipment and storage medium
  • Map partitioning and construction method, object recognition and cleaning method, equipment and storage medium
  • Map partitioning and construction method, object recognition and cleaning method, equipment and storage medium

Examples

Experimental program
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Effect test

example 1

[0040] figure 2 It is a schematic diagram of an exemplary "W"-like traveling trajectory in the embodiment of the present application. The shape of the traveling track is a class "W", and a class "W" traveling track includes four sections (such as figure 2 Line segment 1, line segment 2, line segment 3, and line segment 4) shown in , are straight-line trajectories connected end-to-end, and these four straight-line trajectories are connected end-to-end to form a broken line pattern. The entire "W"-like traveling track has a main traveling direction. When setting the main traveling direction of a "W"-like traveling trajectory, one of the straight-line trajectories (such as line segment 1) can be selected as the reference straight-line trajectory, and the direction of the reference straight-line trajectory can be set as the direction of the "W"-like traveling trajectory. main direction of travel. Wherein, if the direction of the reference straight line trajectory changes, a "...

example 2

[0042] Figure 3a It is a schematic diagram of an exemplary "bow"-like trajectory in the embodiment of the present application. The shape of the track is a "bow" type, and a track of a "bow" type includes six sections (such as Figure 3a Line segment 1, line segment 2, line segment 3, line segment 4, line segment 5 and line segment 6) shown in , are straight line trajectories connected end to end, and these six straight line trajectories are connected end to end to form a broken line pattern. The whole "bow"-like traveling track has a main traveling direction. When setting the main direction of travel of a "bow"-like travel trajectory, one of the straight-line trajectories (such as line segment 1) can be selected as the reference straight-line trajectory, and the travel direction of the autonomous mobile device along the reference straight-line trajectory is set as the "bow"-like "The main direction of travel of the travel trajectory of the font. Wherein, the direction of t...

example 3

[0045] Figure 3b and Figure 3c It is a schematic diagram of an exemplary profiled travel trajectory in the embodiment of the present application. Figure 3b The illustrated travel trajectory includes a long straight trajectory and a curved trajectory, the straight trajectory and the curved trajectory are connected. Among them, the curved track can be a regular curved track, such as Figure 3b As shown, the curved trace includes a plurality of square waves connected end to end and equally spaced. In addition, the curved trajectory can also be irregular, such as Figure 3c As shown, the curved track includes multiple square-like waves connected end to end and not identical in shape. Irregular curved trajectories are not limited to Figure 3c shown; correspondingly, regular curved trajectories are not limited to Figure 3b shown. When setting the main traveling direction of the special-shaped traveling trajectory, a straight-line trajectory can be selected as the referen...

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Abstract

The embodiment of the invention provides a map partition and construction method, an object recognition and cleaning method, equipment and a storage medium. In the embodiment of the invention, since the autonomous mobile device adopts a plurality of track modes with different main advancing directions to traverse the working environment, the whole working environment can be covered as much as possible, so that the partition reference objects in the working environment can be shot as much as possible, and the probability of shooting the front angle images of the partition reference objects is increased; the partition reference object and the position of the partition reference object in the working environment can be identified more accurately, and the accuracy of map partition based on the partition reference object is improved.

Description

technical field [0001] The present application relates to the technical field of artificial intelligence, and in particular to a map partition and construction, object recognition and cleaning method, device and storage medium. Background technique [0002] With the development of artificial intelligence technology, the functions of robots are becoming more and more intelligent. For example, the sweeping robot frees the user's hands, and the sweeping robot can automatically complete the floor cleaning work in the room, freeing the user's hands. [0003] The functions of sweeping robots are becoming more and more powerful, and the trajectory modes supported by sweeping robots are becoming more and more abundant, for example, they can support partition cleaning. When the sweeping robot walks in its environment, it automatically detects the environmental information of the working environment through sensors such as lidar and visual sensors, and builds an environmental map of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/11G06T7/187G06V20/10G06V10/26G06V10/22G06V10/44
CPCG06T7/11G06T7/187G06T2207/20128
Inventor 马晓月蔡瑞莹鲍亮
Owner ECOVACS ROBOTICS (SUZHOU ) CO LTD