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公开(公告)号：EP3951541A1
公开(公告)日：2022-02-09
申请号：EP19922617.6
申请日：2019-11-01
发明人： CHEN, Zhuobiao , ZHOU, Hewen , HUANG, Huibao
IPC分类号： G05D1/02
摘要： An automatic generation method for a robot return-to-base code includes the following steps that: on the basis of a preset signal collection mode, a robot collects a guide signal which is sent by a charging base and distributed within a preset range (S1); the robot transmits signal information and position information of the robot recorded when the guide signal is collected to a data processing device (S2); and the data processing device generates a robot return-to-base code corresponding to the charging base according to the received signal information and position information (S3). By means of the information collected by the robot in different modes, the data processing device automatically generates, according to the information, the robot return-to-base code corresponding to the charging base, so that research and development personnel do not need to delve into a robot return-to-base algorithm or write a specific return-to-base code. The return-to-base code generated by the data processing device may be directly embedded into a robot system, so that the robot may realize an automatic return-to-base function, and the research and development efficiency is greatly improved.
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公开(公告)号：EP4043988A1
公开(公告)日：2022-08-17
申请号：EP20939770.2
申请日：2020-11-24
发明人： HUANG, Huibao , ZHOU, Hewen , CHEN, Zhuobiao
摘要： Disclosed are an area cleaning planning method for robot walking along the boundary, a chip and a robot. The area cleaning planning method includes: on a laser map which is scanned and constructed by a robot in real time, the robot is controlled to walk along the boundary in a predefined cleaning area framed at the current planning starting point position, so that the robot does not cross out the predefined cleaning area in the process of walking along the boundary; meanwhile, according to the division condition of the room cleaning subareas that conform to the preset wall environment condition in the predefined cleaning area , the robot is controlled to walk along the boundary in a matched area, when the robot walks along the boundary in the matched area and returns to the planning starting point position, the robot is controlled to perform planned cleaning in the matched area; and when the robot finishes planned cleaning in the matched area, the robot is controlled to move to the next planning starting point position of a non-cleaned area, and the steps are repeated until no non-cleaned areas are detected.
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公开(公告)号：EP4439126A1
公开(公告)日：2024-10-02
申请号：EP22894662.0
申请日：2022-11-08
发明人： SUN, Ming , CHEN, Zhuobiao , ZHOU, Hewen , XU, Songzhou , HUANG, Huibao , XIONG, Kun
摘要： The invention discloses a method for robots to improve the accuracy of an obstacle labeling, which comprises the following steps of: S1, making two positionings according to set moments, and then acquiring positioning poses of the two positionings on a grid map respectively at a first moment and a second moment; S2, defining a coverage area of the first moment and a coverage area of the second moment according to positions of the two positionings at the first moment and the second moment, acquiring confidence coefficients of the two positionings, and processing the coverage area of the first moment and the coverage area of the second moment through the confidence coefficients; S3, interpolating the positioning poses at the first moment and the second moment, and constructing a closed graph according to the positioning poses at the first moment and the second moment, the pose interpolation, and the processed coverage area of the first moment and the processed coverage area of the second moment; and S4, obtaining a grid occupied by the closed graph on the grid map and modifying the obstacle labeling according to the grid occupied by the closed graph on the grid map and the area of the closed graph.
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4.发明公开
公开(公告)号：EP4425216A1
公开(公告)日：2024-09-04
申请号：EP22885277.8
申请日：2022-08-08
发明人： SUN, Ming , ZHOU, Hewen , HUANG, Huibao , XU, Songzhou , CHEN, Zhuobiao
摘要： The present invention relates to grid and voxel positioning methods based on a laser observation direction, a robot, and a chip. The grid positioning method comprises: selecting two preset intersection points that are in a same preset grid in which a laser point is located; then, in the two preset intersection points, setting the preset intersection point farthest from an observation point as a first preset intersection point, and setting the preset intersection point closest to the same observation point as a second preset intersection point; and according to a magnitude relationship between a ratio of a second preset distance to a first preset distance and a preset proportion coefficient, determining a target grid hit by the laser point in the direction of an observation ray, so as to form a latest hit grid position of the laser point within the two-dimensional grid map, wherein the first preset distance is a distance between the first preset intersection point and the second preset intersection point, and the second preset distance is a distance between the laser point and the second preset intersection point. Therefore, the positioning precision and the map building quality are improved.
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公开(公告)号：EP4216014A1
公开(公告)日：2023-07-26
申请号：EP21908491.0
申请日：2021-06-03
发明人： SUN, Ming , CHEN, Zhuobiao , CHEN, Zexin , XU, Songzhou , ZHOU, Hewen , YANG, Wu , LAI, Qinwei
IPC分类号： G05D1/02
摘要： Disclosed are a cleaning path planning method based on a pathfinding cost, a chip, and a cleaning robot. The cleaning path planning method includes finding candidate entrances/exits in a rational navigation order in different sub-blocks according to pathfinding costs in different directions of coordinate axes as cleaning entrance positions of the corresponding sub-blocks, thereby obtaining a finally-planned cleaning path in a cleaning area upon combination and connection, shortening a navigation path distance between different sub-blocks, reducing a time for the robot to plan a path between areas in a room, reducing a calculation amount, and improving a cleaning effect of the mobile robot.
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公开(公告)号：EP3987995A1
公开(公告)日：2022-04-27
申请号：EP20938628.3
申请日：2020-11-24
发明人： ZHOU, Hewen , HUANG, Huibao , WANG, Chi , CHEN, Zhuobiao
IPC分类号： A47L11/24
摘要： The present disclosure provides a method for expanding a working area based on a laser map, a chip and a robot, and the method for expanding the working area includes using map pixel point information obtained by laser scanning to position pending boundary lines, deciding a next expansion of a rectangular working area according to an increment of a diagonal length of the rectangular working area framed by the pending boundary lines in a current expansion process, stopping expanding the rectangular working area of the robot when the increment of the diagonal length before expanding and after expanding reaches an overlap condition, which avoids a large connected area being dividing into a plurality of small areas in a process of dividing room areas, thus reducing working efficiency of the robot in indoor working areas. It is possible to save operation resources of the robot framing the working area, avoid using software resources to process framing and separating of corner areas of these isolated rooms, and there is no need to ensure that contour boundary positions of the working area framed on an indoor ground are all walls, thereby improving efficiency of the robot navigation along an edge.
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公开(公告)号：EP3985469A1
公开(公告)日：2022-04-20
申请号：EP20940180.1
申请日：2020-11-24
发明人： HUANG, Huibao , ZHOU, Hewen , CHEN, Zhuobiao
IPC分类号： G05D1/02
摘要： The invention discloses a cleaning partition planning method for robot walking along the boundary, a chip and a robot. According to the cleaning partition planning method, a complete global map does not needed to be prestored in advance, but an initial room cleaning partition of the robot is divided in real time in a predefined cleaning area according to map image pixel information obtained by laser scanning in the process of walking along the boundary, meanwhile, the initial room cleaning partition of the robot is expanded by repeated iterative processing of the wall boundary of an uncleaned area in the same predefined cleaning area, so that it is ensured that the outline boundary of the preset room cleaning partition finally formed in the same predefined cleaning area is similar to the wall boundary of an indoor home room, the navigation efficiency of the robot along the boundary of the preset room cleaning partition is improved, and the phenomenon that the robot repeatedly cleans in the preset room cleaning partition is effectively prevented.
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