Title:
OBSTACLE AVOIDANCE METHOD, APPARATUS, AND DEVICE FOR EPIDEMIC-PREVENTION DISINFECTING AND CLEANING ROBOT
Document Type and Number:
WIPO Patent Application WO/2021/208225
Kind Code:
A1
Abstract:
An obstacle avoidance method, apparatus and device for an epidemic-prevention disinfecting and cleaning robot. The method comprises the steps of: obtaining in real time the distance to an obstacle during the travelling process of an epidemic-prevention disinfecting and cleaning robot along a planned path (S1); according to the obtained distance to the obstacle, determining the early warning region in which the obstacle is located, wherein early warning regions are several regions that use the robot as the center and that have different safety distance thresholds (S2); according to the early warning region in which the obstacle is located, determining the current travelling speed of the epidemic-prevention disinfecting and cleaning robot, there being a positive correlation between the current speed and the safety distance threshold of said early warning region (S3); and when the obstacle is continuously detected to be located within the early warning region that has the smallest safety distance threshold, then according to a continuous duration, controlling the epidemic-prevention disinfecting and cleaning robot to execute a corresponding avoidance action (S4). The described method ensures the smoothness of speed variations during obstacle avoidance, prevents a machine body from being impacted and shaken, improves obstacle avoidance flexibility, reduces the amount of time wasted when avoiding an obstacle, and increases the operation efficiency.
Inventors:
LI LIANG (CN)
ZHANG BIN (CN)
JING BIN (CN)
ZHANG SUI HAN (CN)
CHEN KAI (CN)
LUO XINLIANG (CN)
ZHANG BIN (CN)
JING BIN (CN)
ZHANG SUI HAN (CN)
CHEN KAI (CN)
LUO XINLIANG (CN)
Application Number:
PCT/CN2020/096783
Publication Date:
October 21, 2021
Filing Date:
June 18, 2020
Export Citation:
Assignee:
ZOOMLION ENVIRONMENTAL IND CO LTD (CN)
International Classes:
A47L11/40; A47L11/30; A61L2/22
Foreign References:
| CN110737274A | 2020-01-31 | |||
| CN109240313A | 2019-01-18 | |||
| US20190171218A1 | 2019-06-06 | |||
| CN103529450A | 2014-01-22 | |||
| CN109445442A | 2019-03-08 | |||
| US20080009970A1 | 2008-01-10 |
Attorney, Agent or Firm:
CHANGSHA ZHIRONG PATENT AGENCY (ORDINARY PARTNERSHIP) (CN)
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