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Room map building method and device for floor sweeping robot

A sweeping robot and map creation technology, which is applied in the field of sweeping robots, can solve problems such as reducing the working efficiency of sweeping robots, not being able to satisfy cleaning, and inaccurate room maps, etc., achieving strong usability and practicability, convenient operation, and simple implementation Effect

Inactive Publication Date: 2017-06-20
赵博皓
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the existing indoor map drawing is to automatically detect obstacles with ultrasonic waves and collision sensors, avoid collisions and turn and move by itself, and then combine the positioning system to draw a room map according to the cleaning route of the sweeping robot, often due to the location of furniture and electrical appliances placed in the room The drawn room map is inaccurate due to complex or temporary obstacles. When the position of indoor objects changes, the original drawn map will have a large error. Even if the best cleaning route is planned for the drawn room map, It also cannot meet the need to clean the entire room with an optimized route, which greatly reduces the work efficiency of the sweeping robot

Method used

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  • Room map building method and device for floor sweeping robot
  • Room map building method and device for floor sweeping robot
  • Room map building method and device for floor sweeping robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] see figure 1 , figure 1 It is a schematic flowchart of a method for creating a room map of a sweeping robot provided in Embodiment 1 of the present invention. As shown in the figure, the method may include the following steps:

[0026] Step S101, perform full-coverage cleaning on the area in the room and generate position coordinates of obstacles and a room map according to the full-coverage cleaning process.

[0027] In the embodiment of the present invention, the sweeping robot is set to perform full-coverage cleaning when sweeping the floor for the first time. The full-coverage cleaning means that the sweeping robot cleans the room according to a certain trajectory until the sweeping robot records that it has traversed the room. Every corner of the cleaning. You can set a button on the sweeping robot to clear the recorded room map. When the room map is cleared, it will perform full-coverage cleaning. This can be applied to when a sweeping robot is changed to a cle...

Embodiment 2

[0058] see figure 2 , figure 2 It is a schematic block diagram of the device for creating a room map of a sweeping robot provided in Embodiment 2 of the present invention. For the convenience of description, only the parts related to the embodiment of the present invention are shown.

[0059] The device for creating a room map of the sweeping robot may be a software unit, a hardware unit, or a combination of hardware and software built into the sweeping robot, or it may be integrated into the sweeping robot as an independent pendant.

[0060] The device for creating a room map of the sweeping robot includes:

[0061] The room map initialization module 21 is used to perform full-coverage cleaning on the area in the room and generate position coordinates and room maps of obstacles according to the full-coverage cleaning process;

[0062] The cleaning path setting module 22 is used to divide the room map into multiple sub-areas according to the position coordinates of obstacl...

Embodiment 3

[0085] see image 3 , image 3 It is a schematic block diagram of the device for creating a room map of a sweeping robot provided in Embodiment 3 of the present invention. The sweeping robot room map creation device as shown in the figure may include: one or more processors 301 ( image 3 only one is shown); one or more input devices 302 ( image 3 only one is shown), one or more output devices 303 ( image 3 only one shown in ) and memory 304 . The aforementioned processor 301 , input device 302 , output device 303 and memory 304 are connected through a bus 305 . The memory 304 is used to store instructions, and the processor 301 is used to execute the instructions stored in the memory 304 . in:

[0086] The processor 301 is used to generate the position coordinates and room map of obstacles according to the full-coverage cleaning process when the sweeping robot performs full-coverage cleaning on the room area; The position coordinates divide the room map into multiple...

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Abstract

The invention belongs to the technical field of floor sweeping robots, and provides a room map building method and device for a floor sweeping robot. The method comprises the steps that an indoor area is swept in a full coverage mode, and position coordinates of obstacles and a room map are generated according to the full coverage sweeping process; the room map is divided into multiple subareas according to the position coordinates of the obstacles in the room map, and a sweeping path is planned for each subarea; and sweeping is carried out according to the planned sweeping paths, and the position coordinates of the obstacles, the room map and the sweeping paths are updated. By means of the room map building method and device, working efficiency of the floor sweeping robot can be improved. In addition, operation is convenient, implementation is easy, the application range is wide, and usability and practicability are high.

Description

technical field [0001] The invention belongs to the technical field of sweeping robots, and in particular relates to a method and device for creating a room map of a sweeping robot. Background technique [0002] With the improvement of the quality of life, sweeping robots are widely used. They automatically walk around the indoor location through ultrasonic waves and collision sensing, and travel between rooms. According to the behavior rules, their trajectory can outline the outline and structure of the room, etc., and then Outline the room outline and structure memory to draw a map of the room, and perform planned cleaning according to the drawn room map. [0003] However, the existing indoor map drawing is to automatically detect obstacles with ultrasonic waves and collision sensors, avoid collisions and turn and move by itself, and then combine the positioning system to draw a room map according to the cleaning route of the sweeping robot, which is often due to the locat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666
Inventor 赵博皓赵博文
Owner 赵博皓
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