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A Region Segmentation Method Based on Cleaning Robot

A technology for cleaning robots and area segmentation, applied in the field of robots, can solve problems such as multiple mappings, and achieve the effects of eliminating idle burrs, improving cleaning efficiency, and enhancing reliability.

Active Publication Date: 2018-02-23
SHANDONG ZHONGHAO PLASTIC IND CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the above problems, the present invention aims to provide a region segmentation method based on cleaning robots, which solves the problem that existing cleaning robots need to build maps multiple times, and greatly improves the cleaning efficiency of cleaning robots

Method used

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  • A Region Segmentation Method Based on Cleaning Robot
  • A Region Segmentation Method Based on Cleaning Robot
  • A Region Segmentation Method Based on Cleaning Robot

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Embodiment Construction

[0079] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation manners of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other accompanying drawings based on these drawings and obtain other implementations.

[0080] Such as figure 1 Shown is a schematic view of the structure of the cleaning robot 101 in the present invention. As can be seen from the figure, the cleaning robot 101 includes a front wheel 104 of the cleaning robot, a right rear wheel 102 of the cleaning robot and a left rear wheel 103 of the cleaning robot. The entire border in is the size of the chassis of the cleaning robot, where R (unit: pixel) represents the radius of the maximum inscribed circle of the chassis of th...

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Abstract

The invention provides an area segmentation method based on a cleaning robot. The method comprises steps that, grid map data is read in; pre-processing on a grid map is carried out; a rotation number N of a reference grid map is calculated; a cycle parameter k is initialized; whether a preset map segmentation condition is satisfied is determined; whether the cycle parameter k is smaller than the rotation number N is determined; a rotation grid map fk is acquired through k*dtheta-DEG rotation of the reference grid map; map segmentation on the rotation grid map fk is carried out; an optimal map sub area in all map sub areas acquired after rotation of the reference grid map is calculated; a main direction of the optimal map sub area is calculated, and the optimal map sub area is deleted from the reference grid map; the cycle parameter k is re-set, whether the preset map segmentation condition is satisfied is re-determined, and a cycle mode is carried out. Through the area segmentation method, a problem of multi-time map establishment existing in cleaning robots in the prior art is solved, and cleaning efficiency of the cleaning robot is greatly improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for dividing a cleaning area by a cleaning robot during work. Background technique [0002] The working modules of cleaning equipment currently on the market include hand-push mode, manual driving mode, and unmanned driving mode. There are industrial manual driving cleaning machines and floor washing machines, etc., and there are household cleaning robots in unmanned mode. We know that the cleaning equipment in the first two working modes requires people to operate, but for office workers, time is money, and for business owners, the fewer employees hired for cleaning, the lower the cost. It can be seen that the above Cleaning equipment in unmanned mode is more in line with people's wishes and the needs of the times. [0003] At present, household cleaning robots in unmanned mode usually use local map building, and the map created each time is only a part of the cleaning...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 杨再甫张小章征贵
Owner SHANDONG ZHONGHAO PLASTIC IND CO LTD
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