Walking detection control method for auto-moving robot

A control method and robot technology, applied in two-dimensional position/channel control, automatic starting device and other directions, can solve problems such as damage and robot fall, achieve accurate judgment, prevent misoperation and fall damage, and prevent missed judgments and mistakes. the effect of judgment

Inactive Publication Date: 2015-07-01
ECOVACS COMML ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing installation control method, for a robot with a certain height, such as a shopping guide robot, a sudden stop or turning will easily cause the robot to fall and be damaged

Method used

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  • Walking detection control method for auto-moving robot
  • Walking detection control method for auto-moving robot

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Experimental program
Comparison scheme
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Embodiment 1

[0026] figure 1 It is a schematic diagram of the motion state of the self-mobile robot of the present invention. The invention provides a walking detection control method of a self-mobile robot, such as figure 1 As shown, the self-mobile robot includes a body 100, on which a control unit, a drive unit and a sensing unit are arranged, and the sensing unit sends the sensed signal to the control unit, and the control unit controls the sensor according to the sensing signal. The drive unit drives the movement of the body. The sensing unit includes a displacement detection sensor 200, and the displacement detection sensor 200 is installed obliquely on the body 100, and the included angle between the central line and the bottom surface of the body is α, where 0°figure 1 As shown, the displacement detection sensor 200 is installed obliquely, so that the detection head is outward, so that the ground conditions ahead can be detected in advance, and if there are steps, there is suffici...

Embodiment 2

[0034] In the foregoing embodiments, it is the judgment and control of the walking environment during the traveling process of the self-mobile robot. In addition to the above judgment control process, if the self-mobile robot is in the initial position just after starting up and before entering the motion state, it also needs to judge the state it is in. Therefore, this embodiment is an optimization of the judgment control process of the embodiment. Specifically, before the step 100, it also includes:

[0035] Step 010: Preset the basic distance value S0 in the self-mobile robot, which is 60-70 cm;

[0036] Step 020: Put the self-mobile robot into the working area. Before starting to walk normally, the displacement detection sensor first scans the linear distance between its setting position and the walking surface of the working area to obtain the initial distance value S3;

[0037] Step 030: Compare the initial distance value S3 with the basic distance value S0 to determine...

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Abstract

A walking detection control method for a self-moving robot, comprising: step 100: presetting in the self-moving robot a fundamental displacement change value ΔS0; step 200: placing the self-moving robot into the work area, the robot beginning to walk normally, a displacement detection sensor scanning in real time the linear distance between its installed position and the work area walking surface, recording the linear distance S2 at the present moment and the linear distance S1 one moment earlier, and calculating in real time the difference between the two linear distances to yield the real-time displacement change value ΔS1; step 300: determining whether ΔS1 is greater than or equal to ΔS0; if not, then the self-moving robot continuing to walk normally; if so, then the control unit controlling the self-moving robot to decelerate. The method accurately determines walking environment conditions and effectively prevents the self-moving robot from malfunctioning and from falling down and becoming damaged.

Description

technical field [0001] The invention relates to a walking detection control method of a self-moving robot, which belongs to the technical field of small home appliance manufacturing. Background technique [0002] A self-mobile robot is a small household appliance with a high degree of automation, which can walk by itself in a specific working area. However, due to the complex conditions of the walking surface in the working area, obstacles or falls may be encountered during walking due to existing protrusions or depressions, which will affect the normal walking and operation of the self-mobile robot. In order to solve this problem, the existing self-mobile robot detects the working condition of the walking surface in the working area by setting a displacement detection sensor on the body. In the existing self-moving robot, there are mainly two installation methods for the displacement detection sensor, one of which is installed vertically on the body, that is, the installat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/02B60T7/22
Inventor 汤进举
Owner ECOVACS COMML ROBOTICS CO LTD
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