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Operation method and device of cleaning robot

A technology for cleaning robots and operating methods, which is applied in the field of operating methods and devices for cleaning robots, can solve problems such as unproposed solutions, achieve the effect of improving cleaning coverage and avoiding missing uncleaned areas

Active Publication Date: 2022-02-22
SUGAN TECH BEIJING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] For the above problems, no effective solution has been proposed

Method used

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  • Operation method and device of cleaning robot
  • Operation method and device of cleaning robot
  • Operation method and device of cleaning robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0067] Embodiment one, Figure 4 is based on Figure 3b Shown is a flow chart of an area division method for a cleaning robot in an embodiment in which a photo of the cleaning robot in its actual environment is captured by an image acquisition device installed on the top of the cleaning robot and the lens is vertically upward, Wherein, the photo is a photo of the lower surface of the horizontal plane above the top of the cleaning robot. like Figure 4 As shown, the specific steps of the method are as follows:

[0068] Step S401: The image acquisition device (such as a video camera or camera) acquires environment images containing information about the environment around the cleaning robot, wherein at least one environment image contains straight-edge features in the environment.

[0069] Step S402: The cleaning robot extracts straight edge features from the environment image.

[0070] Step S403: The cleaning robot calculates the angle between the current orientation of the...

Embodiment approach 2

[0077] Embodiment 2 provides an area division method for a cleaning robot, which specifically includes the following steps:

[0078] Step S501: The cleaning robot rotates once on the spot, so that the ranging device (such as TOF or laser radar) obtains the ranging information of the cleaning robot and nearby obstacles around it, and establishes an electronic map (such as Figure 5 shown. Figure 5 is a schematic diagram of the initial environment of the cleaning robot according to one embodiment of the present invention).

[0079] Step S502: The cleaning robot extracts straight edge features from the electronic map, such as Figure 5 For example, the straight edge feature can be the projection line of the side of the wall near the cleaning robot facing the side of the cleaning robot on the ground, and the side of the cabinet or bed near the cleaning robot facing the side of the cleaning robot on the ground Projecting straight lines, etc.

[0080] Step S503: The cleaning rob...

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Abstract

The invention discloses an operating method and device for a cleaning robot. Wherein, the method includes: obtaining an environment image of the actual environment where the cleaning robot is located; extracting straight edge features from the acquired environment image; The direction of the straight edge corresponding to the direction of the side feature, the main direction is determined by the straight edge direction, where the main direction is parallel or perpendicular to the straight edge direction; adjust the current orientation of the cleaning robot to the main direction. When the cleaning robot starts cleaning or switches to a new area to be cleaned, the cleaning robot automatically adjusts to the main direction in the actual environment, thereby avoiding missing uncleaned areas and achieving the technical effect of effectively improving the cleaning coverage , the present invention solves the technical problems of high cleaning cost and low work efficiency in the related art of cleaning the areas divided according to the arbitrary orientation of the cleaning robot.

Description

technical field [0001] The invention relates to the field of robots, in particular to an operating method and device for a cleaning robot. Background technique [0002] In recent years, cleaning robots have developed rapidly. For this type of robots, the most important point is to achieve efficient and comprehensive cleaning of the area to be cleaned. At present, although most cleaning robots can also achieve a high cleaning rate, they often miss areas. Figure 1a is a schematic diagram of the missing area in the area to be cleaned in the prior art, such as Figure 1a The situation shown is that when the cleaning robot is placed on the ground to start working, the cleaning robot usually performs cleaning work directly according to the orientation when it is placed. Due to the randomness of the orientation of the cleaning robot when it is placed, if the initial orientation of the cleaning robot is not adjusted , when the cleaning robot uses the usual bow-shaped cleaning route...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A47L11/24A47L11/40G05D1/02
CPCG05D1/0246A47L11/24A47L11/40A47L11/4002A47L11/4011A47L11/4061A47L2201/04
Inventor 许思晨张一茗陈震
Owner SUGAN TECH BEIJING
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