INTELLIGENT SWEEPING ROBOT

• US 20200134314A1
• Filed: 12/31/2019
• Published: 04/30/2020
• Est. Priority Date: 12/30/2019
• Status: Active Grant

• Current Assignee: Beijing Taitan Technology Co., Ltd.
• Original Assignee: Beijing Taitan Technology Co., Ltd.
• Inventors: HU, GUOHUI
• Granted Patent: US 11,222,207 B2
• Time in Patent Office: Days
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• CPC Class Codes: A47L 11/4002 Installations of electric equipment
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/194 involving foreground-background segmentation
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 10/764 using classification, e.g. of video objects
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Abstract

The present invention discloses an intelligent sweeping robot which is used for detecting whether a foreground object is an obstacle or not according to the extracted foreground object features; marking an area, located by the foreground object, as an obstacle point if a detection result is that the foreground object is the obstacle, and resetting a second sweeping path for avoiding the obstacle point; and further determining a first conditional probability of the foreground object being the obstacle according to the extracted scene features and foreground object features if the detection result is that whether the foreground object is the obstacle or not cannot be determined, determining the foreground object to be the obstacle if the first conditional probability is larger than a preset threshold value, marking the area, located by the foreground object, as the obstacle point, and resetting the second sweeping path for avoiding the obstacle point.

Claims

1. An intelligent sweeping robot, characterized by comprising:

a sweeping path setting processing module, used for setting a first sweeping path for walking of the intelligent sweeping robot according to a target area, swept by the intelligent sweeping robot;

a sweeping processing module, used for controlling the intelligent sweeping robot to perform sweeping according to the first sweeping path;

an image acquisition processing module, used for acquiring an image in front of the intelligent sweeping robot during walking;

an extraction processing module, used for extracting foreground object features and scene features from the acquired image; and

an obstacle detection processing module, used for detecting whether a foreground object is an obstacle or not according to the extracted foreground object features;

if a detection result is that the foreground object is the obstacle, marking an area, located by the foreground object, as an obstacle point, and resetting a second sweeping path for avoiding the obstacle point; and

determining a first conditional probability of the foreground object being the obstacle according to the extracted scene features and foreground object features if the detection result is that whether the foreground object is the obstacle or not cannot be determined, determining the foreground object to be the obstacle if the first conditional probability is larger than a preset threshold value, marking the area, located by the foreground object, as the obstacle point, and resetting the second sweeping path for avoiding the obstacle point.

2. The intelligent sweeping robot according to claim 1, characterized in that the following manner for determining the first conditional possibility of the foreground object being the obstacle by the obstacle detection processing module according to the extracted scene features and foreground object features is concretely as follows:

various scene features and various foreground object features are combined into various conditions in advance, and the conditional possibilities that the foreground object is the obstacle under various conditions are determined and saved;

a corresponding condition is determined according to the extracted scene features and foreground object features; and

conditional possibility information, saved in advance, is inquired according to the determined condition to obtain the first conditional possibility, corresponding to the condition.

3. The intelligent sweeping robot according to claim 1, characterized in that the extraction processing module further extracts reference object features from the acquired image;

and

a second conditional possibility of the foreground object being the obstacle is determined according to the extracted scene features, reference object features and foreground object features if the obstacle detection processing module determines the detection result to be that whether the foreground object is the obstacle or not cannot be determined, and if the second conditional possibility is larger than a preset threshold value, the foreground object is determined as the obstacle, the area, located by the foreground object, is marked as the obstacle point, and a third sweeping path for avoiding the obstacle point is reset.

4. The intelligent sweeping robot according to claim 1, characterized by further comprising a grid unit division processing module, used for dividing the target area, swept by the intelligent sweeping robot, into various grid units, wherein the grid units are divided into free grid units and obstacle grid units, each free grid unit is an area for free passing, and each obstacle grid unit is an area with the obstacle point.

5. The intelligent sweeping robot according to claim 4, characterized in that the sweeping processing module controls the intelligent sweeping robot to perform sweeping according to a quick sweeping mode in each free grid unit and perform sweeping according to a fine sweeping mode in each obstacle grid unit.