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Omni-bearing obstacle avoidance method for cleaning robot and device thereof

A cleaning robot, all-round technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, instruments and other directions, can solve the problems of simple rigidity, poor obstacle avoidance smoothness, low efficiency, etc., to improve work Efficiency, the effect of reducing the blocking time

Pending Publication Date: 2021-12-28
XUZHOU XUGONG ENVIRONMENTAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

With the development of technology, the unmanned driving technology of cleaning robots has been widely used. In order to ensure work safety, cleaning robots have certain obstacle avoidance functions. Low, poor smoothness of obstacle avoidance, etc., in order to solve the above problems, this application proposes an omnidirectional obstacle avoidance method and device for cleaning robots

Method used

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  • Omni-bearing obstacle avoidance method for cleaning robot and device thereof
  • Omni-bearing obstacle avoidance method for cleaning robot and device thereof
  • Omni-bearing obstacle avoidance method for cleaning robot and device thereof

Examples

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Effect test

Embodiment 1

[0051] Such as figure 1 As shown, the embodiment of the present invention provides an all-round obstacle avoidance method for a cleaning robot, including the following steps:

[0052] Step 1. Obtain the distance value of the cleaning robot from the obstacle in the process of traveling according to the preset working path in real time;

[0053] Step 2, decomposing the distance value into a travel distance value along the travel direction and a vertical distance value perpendicular to the travel direction;

[0054] Step 3, determine the area and channel where the obstacle is located according to the travel distance value and the vertical distance value;

[0055] Channels are multiple channels centered on the cleaning robot and have different safety distance thresholds perpendicular to the direction of travel; areas are multiple areas centered on the cleaning robot and have different safety distance thresholds along the direction of travel; travel distance value, vertical Both ...

Embodiment 2

[0095] The implementation of the present invention provides an all-round obstacle avoidance device for a cleaning robot, including:

[0096] The distance acquisition module is used to obtain the distance value of the cleaning robot from the obstacle in the process of traveling according to the preset working path in real time;

[0097] A distance decomposition module, configured to decompose the distance value into a travel distance value along the travel direction and a vertical distance value perpendicular to the travel direction;

[0098] The area channel module is used to determine the area and channel where the obstacle is located according to the travel distance value and the vertical distance value;

[0099] The control execution module is used to determine the real-time travel speed of the cleaning robot and perform corresponding actions according to the area and passage where the obstacle is located;

[0100] Among them, the channel is a plurality of channels centere...

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Abstract

The invention discloses an omni-directional obstacle avoidance method for a cleaning robot and a device thereof. The method comprises the following steps: obtaining the distance value between the cleaning robot and an obstacle in the advancing process of the cleaning robot according to a preset working path in real time; decomposing the distance value into a travel distance value in the travel direction and a vertical distance value perpendicular to the travel direction; determining an area and a channel where the obstacle is located according to the advancing distance value and the vertical distance value; and determining the real-time advancing speed of the cleaning robot according to the area and the channel where the obstacle is located, and corresponding actions are executed. The smooth speed change during obstacle avoidance can be realized, avoidance safety is improved, retardation time is shortened, and working efficiency is improved.

Description

technical field [0001] The invention relates to an all-round obstacle avoidance method and method for a cleaning robot, and belongs to the technical field of sanitation equipment. Background technique [0002] The cleaning robot is a kind of efficient cleaning equipment for road cleaning. It is widely used in shopping malls, residential buildings, squares, parks, scenic spots and urban auxiliary roads for cleaning indoor and outdoor roads. It is small in size and flexible in application. With the development of technology, the unmanned driving technology of cleaning robots has been widely used. In order to ensure work safety, cleaning robots have certain obstacle avoidance functions. low, poor smoothness of obstacle avoidance, etc., in order to solve the above problems, this application proposes an omnidirectional obstacle avoidance method and device for a cleaning robot. Contents of the invention [0003] The purpose of the present invention is to overcome the deficienci...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0214G05D1/0219
Inventor 程磊单龙温玉霜冯英达邢继婉肖晨汤争争
Owner XUZHOU XUGONG ENVIRONMENTAL TECH CO LTD
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