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Flanging cleaning method, electronic equipment and cleaning robot
The invention relates to the technical field of cleaning robots, in particular to a welt cleaning method, electronic equipment and a cleaning robot, and the method comprises the steps: obtaining a current tracking point on a current path; when determining that the current tracking point is a welt point based on the attribute of the current tracking point, acquiring current environment data, and fitting the current environment data to determine a first pose of the cleaning robot relative to the wall under the robot coordinate system; adjusting the first pose based on a preset welt distance, and determining a second pose of the cleaning robot relative to the expected path under the robot coordinate system so as to determine the position of the next tracking point under the robot coordinate system; and performing walking control on the cleaning robot based on the position of the next tracking point. The attribute of the current tracking point is utilized to determine whether the current tracking point is a welt point, so that collision between the cleaning robot and the wall surface is avoided; the pose of the cleaning robot relative to the wall is estimated in real time, and the cleaning effect of the cleaning robot is improved.
本发明涉及清洁机器人技术领域，具体涉及贴边清洁方法、电子设备及清洁机器人，该方法包括获取当前路径上的当前跟踪点；当基于当前跟踪点的属性确定当前跟踪点为贴边点时，获取当前环境数据，并对当前环境数据进行拟合确定机器人坐标系下清洁机器人相对于墙体的第一位姿；基于预设贴边距离对第一位姿进行调整，确定机器人坐标系下清洁机器人相对于期望路径的第二位姿，以确定机器人坐标系下的下一个跟踪点的位置；基于下一个跟踪点的位置对清洁机器人进行行走控制。利用当前跟踪点的属性确定其是否为贴边点，避免了清洁机器人与墙面的碰撞；实时估算清洁机器人相对于墙体的位姿，提高了清洁机器人的清洁效果。
Flanging cleaning method, electronic equipment and cleaning robot
The invention relates to the technical field of cleaning robots, in particular to a welt cleaning method, electronic equipment and a cleaning robot, and the method comprises the steps: obtaining a current tracking point on a current path; when determining that the current tracking point is a welt point based on the attribute of the current tracking point, acquiring current environment data, and fitting the current environment data to determine a first pose of the cleaning robot relative to the wall under the robot coordinate system; adjusting the first pose based on a preset welt distance, and determining a second pose of the cleaning robot relative to the expected path under the robot coordinate system so as to determine the position of the next tracking point under the robot coordinate system; and performing walking control on the cleaning robot based on the position of the next tracking point. The attribute of the current tracking point is utilized to determine whether the current tracking point is a welt point, so that collision between the cleaning robot and the wall surface is avoided; the pose of the cleaning robot relative to the wall is estimated in real time, and the cleaning effect of the cleaning robot is improved.
本发明涉及清洁机器人技术领域，具体涉及贴边清洁方法、电子设备及清洁机器人，该方法包括获取当前路径上的当前跟踪点；当基于当前跟踪点的属性确定当前跟踪点为贴边点时，获取当前环境数据，并对当前环境数据进行拟合确定机器人坐标系下清洁机器人相对于墙体的第一位姿；基于预设贴边距离对第一位姿进行调整，确定机器人坐标系下清洁机器人相对于期望路径的第二位姿，以确定机器人坐标系下的下一个跟踪点的位置；基于下一个跟踪点的位置对清洁机器人进行行走控制。利用当前跟踪点的属性确定其是否为贴边点，避免了清洁机器人与墙面的碰撞；实时估算清洁机器人相对于墙体的位姿，提高了清洁机器人的清洁效果。
Flanging cleaning method, electronic equipment and cleaning robot
贴边清洁方法、电子设备及清洁机器人
LIN YANLONG (author)
2023-12-01
Patent
Electronic Resource
Chinese
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