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1. WO2022000961 - EDGEWISE PATH SELECTION METHOD FOR ROBOT OBSTACLE CROSSING, CHIP, AND ROBOT

Publication Number WO/2022/000961
Publication Date 06.01.2022
International Application No. PCT/CN2020/131190
International Filing Date 24.11.2020
IPC
A47L 11/24 2006.1
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
24Floor-sweeping machines, motor-driven
G05D 1/02 2020.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
A47L 11/24
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
24Floor-sweeping machines, motor-driven
A47L 11/40
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not ; provided for in; groups A47L11/02 - A47L11/38, ; or not restricted to one of these groups; , e.g. handles, arrangements of switches, skirts, buffers, levers
A47L 11/4002
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not ; provided for in; groups A47L11/02 - A47L11/38, ; or not restricted to one of these groups; , e.g. handles, arrangements of switches, skirts, buffers, levers
4002Installations of electric equipment
A47L 11/4011
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not ; provided for in; groups A47L11/02 - A47L11/38, ; or not restricted to one of these groups; , e.g. handles, arrangements of switches, skirts, buffers, levers
4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
A47L 11/4061
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not ; provided for in; groups A47L11/02 - A47L11/38, ; or not restricted to one of these groups; , e.g. handles, arrangements of switches, skirts, buffers, levers
4061Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
A47L 2201/04
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
2201Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
04Automatic control of the travelling movement; Automatic obstacle detection
Applicants
  • 珠海一微半导体股份有限公司 AMICRO SEMICONDUCTOR CO., LTD. [CN]/[CN]
Inventors
  • 李明 LI, Ming
Priority Data
202010614362.530.06.2020CN
Publication Language Chinese (zh)
Filing Language Chinese (ZH)
Designated States
Title
(EN) EDGEWISE PATH SELECTION METHOD FOR ROBOT OBSTACLE CROSSING, CHIP, AND ROBOT
(FR) PROCÉDÉ DE SÉLECTION DE TRAJET PAR LE CÔTÉ POUR FRANCHISSEMENT D'OBSTACLE DE ROBOT, PUCE ET ROBOT
(ZH) 一种机器人越障的沿边路径选择方法、芯片及机器人
Abstract
(EN) An edgewise path selection method for robot obstacle crossing, a chip, and a robot. The method comprises: first, planning edgewise prediction paths for robot obstacle crossing, and selecting, on a preset navigation path, preset inflection points satisfying a guide condition, wherein a navigation path formed by connecting inflection points is preset for the robot; these inflection points are used for guiding the robot to move to the final navigation target point; then according to information of the distance between all the edgewise behavior points on each edgewise prediction path, and preset inflection points satisfying the guide condition on the same navigation path, an edgewise prediction path having the minimum deviation degree relative to the navigation path, so that the robot walks in the edgewise direction of the selected edgewise prediction path after colliding with an obstacle, so as to achieve rapid obstacle crossing. The number of collisions of the robot in the obstacle crossing process is reduced, the robot is also prevented from deviating too far from the navigation path, and the intelligent level of the robot is improved.
(FR) L'invention concerne un procédé de sélection de trajet par le côté pour le franchissement d'obstacles de robot, une puce et un robot. Le procédé consiste à : premièrement, planifier des trajets de prévision par le côté pour un franchissement d'obstacles par le robot, et sélectionner, sur un trajet de navigation prédéfini, des points d'inflexion prédéfinis satisfaisant une condition de guidage, un trajet de navigation formé en reliant les points d'inflexion étant prédéfini pour le robot ; ces points d'inflexion sont utilisés pour guider le robot pour qu'il se déplace vers le point cible de navigation final ; puis en fonction d'informations de la distance entre tous les points de comportement par le côté sur chaque trajet de prévision par le côté, et des points d'inflexion prédéfinis satisfaisant la condition de guidage sur le même trajet de navigation, un trajet de prévision par le côté ayant le degré d'écart minimal par rapport au trajet de navigation, de telle sorte que le robot se déplace dans la direction de côté du trajet de prévision par le côté sélectionné après collision avec un obstacle, de façon à effectuer un franchissement d'obstacle rapide. Le nombre de collisions du robot dans le processus de franchissement d'obstacles est réduit, le robot évite également de dévier trop loin du trajet de navigation, et le niveau intelligent du robot est amélioré.
(ZH) 一种机器人越障的沿边路径选择方法、芯片及机器人,方法包括:首先规划出用于机器人越障的沿边预测路径,并在预先设置的导航路径上选择出满足导向条件的预设拐点;其中,机器人预先设置有由拐点连接而成的导航路径,这些拐点用于引导机器人移动至最终导航目标点;然后根据每个沿边预测路径上所有的沿边行为点与同一条导航路径上满足导向条件的预设拐点的距离信息,选择出相对于这条导航路径的偏离程度最小的一个沿边预测路径,使得机器人在碰撞到障碍物后按照这个选择出的沿边预测路径的沿边方向行走以实现快速越障,减少机器人在越障过程中的碰撞次数,也避免机器人偏离导航路径过远,提高机器人的智能化水平。
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