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Mechanical arm motion planning method and system for cleaning space rectangular area

A technology of motion planning and rectangular area, applied in the field of robots, can solve problems such as inability to clean like humans, achieve the effects of avoiding collisions, increasing average speed, and improving work efficiency

Active Publication Date: 2022-01-21
杭州景吾智能科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The cleaning robots currently on the market are mainly composed of various sweeping robots, but sweeping robots have inherent defects. They can only clean the ground and cannot clean other areas like humans. Robots have become the development trend of follow-up cleaning robots

Method used

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  • Mechanical arm motion planning method and system for cleaning space rectangular area
  • Mechanical arm motion planning method and system for cleaning space rectangular area
  • Mechanical arm motion planning method and system for cleaning space rectangular area

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Embodiment Construction

[0061] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0062] An embodiment of the present invention provides a robotic arm motion planning system for cleaning a rectangular area of ​​space, referring to figure 1 As shown, the system includes: mobile robot module, manipulator module and vision module, each module has independent working performance, and corresponding tooling is allocated to each module.

[0063]Mobile robot module: The mobile robot module is equipped with general-purpose equipment including lidar and drive motors, which can ensure that the ...

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PUM

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Abstract

The invention provides a mechanical arm motion planning method and system for a cleaning space rectangular area, and relates to the technical field of robots. The system comprises a mobile robot module, a mechanical arm module and a visual module, each module has independent working performance, and a corresponding tool is distributed in each module; the mobile robot module is provided with universal equipment including a laser radar and a driving motor, and it is guaranteed that a mobile robot independently completes common related functions including SLAM, navigation and motion planning; the mechanical arm module comprises a mechanical arm body and a clamping jaw, and it is guaranteed that a mechanical arm can complete related operations including object grabbing and transferring; and the visual module comprises a depth camera and can provide target plane and three-dimensional point cloud data and obtain target feature points according to the data. The cleaning area can be made in a self-adaptive mode, and it is ensured that the mechanical arm does not collide with an external structure.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a method and system for planning the movement of a mechanical arm in a rectangular area of ​​a cleaning space. Background technique [0002] The cleaning robots currently on the market are mainly composed of various sweeping robots, but sweeping robots have inherent defects. They can only clean the ground and cannot clean other areas like humans. Robots have become the development trend of subsequent cleaning robots. [0003] The invention patent with publication number CN113143123A discloses a cleaning robot system and a cleaning control method. The cleaning robot system includes a cleaning robot and a base station; the cleaning robot includes a fuselage, a dust suction assembly and a rotating cleaning assembly; the base station Including a cleaning device; when the cleaning robot is in the mopping mode, the rotating cleaning assembly is in working condition, and the rot...

Claims

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Application Information

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IPC IPC(8): A47L11/00A47L11/24A47L11/28A47L11/40G06V10/22
CPCA47L11/00A47L11/24A47L11/28A47L11/40A47L11/4011A47L11/4002A47L11/4063A47L2201/04A47L2201/06
Inventor 廖志祥郭震
Owner 杭州景吾智能科技有限公司
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