Control method, device and system of robot and robot using the same
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Solution Overview
Problem
Existing intelligent robots face challenges in accurately adjusting their pose to move along a principal direction, such as parallel or perpendicular to a room divider, which affects their cleaning efficiency and movement coverage rate.
Innovation Solution
A control method and system that utilize an image acquisition device and processing unit to identify characteristic line segments, determine the relative orientation relationship between the robot and room dividers, and adjust the robot's pose to align with the principal direction, ensuring efficient movement along walls or other room dividers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot uses traditional movement control without pose adjustment, then the control system is simple, but the cleaning efficiency and movement coverage rate are low
Solution Approach 1:
The robot performs self-pose adjustment by automatically identifying characteristic line segments in the environment and calculating its own orientation relative to room dividers. The control device autonomously determines whether pose adjustment is needed and executes the adjustment without human intervention, enabling the robot to service itself and improve cleaning efficiency without proportionally increasing control system complexity.
Solution Approach 2:
The patent replaces complex mechanical pose adjustment mechanisms with an image processing-based control system. Instead of using mechanical sensors and actuators to detect and adjust pose, the system uses image acquisition devices to capture environmental features, processes images to identify characteristic line segments, and calculates orientation relationships to determine pose adjustments, substituting mechanical systems with optical and computational approaches.
2Productivity
If the robot adjusts pose frequently to align with principal direction, then the movement coverage rate improves, but the time consumption increases
Solution Approach 1:
The robot performs pose adjustment only when necessary, based on the calculated orientation relationship with room dividers. Instead of continuously adjusting pose or adjusting to perfect alignment, the system determines whether adjustment is needed by comparing the current orientation against the principal direction derived from characteristic line segments, performing partial adjustments only when the deviation exceeds acceptable thresholds, thus reducing unnecessary time consumption while maintaining adequate movement coverage.
Solution Approach 2:
The system continuously monitors the robot's pose by identifying characteristic line segments in real-time images and calculating the orientation relationship with room dividers. This feedback mechanism allows the robot to detect when pose adjustment is needed and when the principal direction changes, enabling timely adjustments without continuous intervention, thus balancing movement coverage rate with time consumption.
3Productivity
If the robot moves without accurate pose alignment, then the movement speed is fast, but the cleaning efficiency decreases due to additional cleaning regions
Solution Approach 1:
The robot performs preliminary pose adjustment by identifying characteristic line segments and calculating orientation relationships before initiating movement along the principal direction. This advance alignment ensures that the robot is properly oriented relative to room dividers before starting cleaning operations, preventing the need for additional cleaning regions and maintaining high cleaning efficiency without requiring continuous speed reductions for mid-course corrections.
Solution Approach 2:
The system replaces mechanical alignment procedures with image processing and computational geometry. By using image acquisition devices to capture characteristic line segments and algorithms to calculate orientation relationships, the robot achieves accurate pose alignment through software-based methods rather than mechanical sensing and adjustment, enabling fast movement with accurate positioning without the need for slow mechanical alignment mechanisms.
Data Source
AI summary
The present application provides a control method, a device and a system of the robot and a robot using the same. The control method comprises: acquiring at least one image captured during a movement of the robot and identifying characteristic line segments in the at least one image; determining a relative orientation relationship between the robot and a room divider in a physical space according to the identified characteristic line segments; and adjusting a pose of the robot according to the orientation relationship, such that the robot moves along a principal direction constructed based on the room divider in the physical space. Through the technical solution in the preset application, the movement coverage rate of robot can be improved.