US 12,147,240 B2
Method for expanding working area based on laser map, chip and robot
Hewen Zhou, Guangdong (CN); Huibao Huang, Guangdong (CN); Chi Wang, Guangdong (CN); and Zhuobiao Chen, Guangdong (CN)
Assigned to AMICRO SEMICONDUCTOR CO., LTD., Guangdong (CN)
Appl. No. 17/626,816
Filed by AMICRO SEMICONDUCTOR CO.,LTD., Guangdong (CN)
PCT Filed Nov. 24, 2020, PCT No. PCT/CN2020/131196
§ 371(c)(1), (2) Date Jan. 13, 2022,
PCT Pub. No. WO2021/243978, PCT Pub. Date Dec. 9, 2021.
Claims priority of application No. 202010480433.7 (CN), filed on May 30, 2020.
Prior Publication US 2023/0073479 A1, Mar. 9, 2023
Int. Cl. G05D 1/00 (2024.01); G01C 21/20 (2006.01); A47L 11/40 (2006.01)
CPC G05D 1/024 (2013.01) [G01C 21/206 (2013.01); G05D 1/0274 (2013.01); A47L 11/4002 (2013.01); A47L 11/4011 (2013.01); A47L 11/4061 (2013.01); A47L 2201/04 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A robot equipped with a laser sensor, wherein the robot is provided with a chip for processing laser data scanned by the laser sensor in real time to construct a laser map,
the chip with a control program inside, wherein the control program is configured to control a mobile robot to execute a method for expanding a working area based on the laser map, wherein the method for expanding the working area comprises:
step 1, setting pending boundary lines along coordinate axis directions of the laser map constructed in real time, so that an area extending along each of the coordinate axis directions is divided by the pending boundary line set correspondingly;
step 2, when a robot moves to a preset position of an indoor working area, selecting one pending boundary line closest to the preset position in each of the coordinate axis directions, and framing an initial working area which is rectangular;
step 3, selecting one coordinate axis direction of priority expansion according to a preset expansion priority condition, deleting one pending boundary line set perpendicular to the coordinate axis direction correspondingly in the initial working area, then starting to expand the initial working area along the coordinate axis direction which is same, so that an initial working area after expanding is a new rectangular working area formed by a remaining pending boundary line framing the initial working area and one pending boundary line closest to the pending boundary line which is deleted; and
step 4, judging whether an increment of a diagonal length of the initial working area after expanding and a diagonal length of the initial working area before expanding is less than a preset overlap size error value, in a case that the increment of the diagonal length of the initial working area after expanding and the diagonal length of the initial working area before expanding is less than the preset overlap size error value, stopping expanding.