Detecting method for trapped floor-cleaning robot

A technology of sweeping robots and detection methods, applied in the direction of instruments, measuring devices, radio wave measuring systems, etc., to achieve the effect of avoiding direct collisions

Inactive Publication Date: 2016-11-09
南阳中衡环保科技有限公司
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The invention patent with the publication number of CN 105011866 discloses a sweeping robot, including a main cleaning machine for cleaning and storing garbage, and a sub-cleaning machine for moving garbage. The sub-cleaning machine is detachably installed on the main cleaning machine. There is wireless communication between the cleaning machine and the main cleaning machine. There is a sensor in front of the main cleaning machine of the sweeping robot, which can detect obstacles. If it encounters a wall or other obstacles, it will turn by itself, but only when the main cleaning machine Sensors are installed at the front to detect obstacles. If the main cleaning machine or sub-cleaning machine is stuck, the user can only find it and manually solve the problem. In general, the place where the sweeping robot gets stuck may be the bed, cabinet , The place under the sofa is not easy to enter, which brings a lot of inconvenience to the user

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  • Detecting method for trapped floor-cleaning robot
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  • Detecting method for trapped floor-cleaning robot

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0028] Such as figure 1 , image 3 As shown, a sweeping robot trapped detection method includes the following steps:

[0029] Step 1, four ultrasonic sensors 2 and four ranging sensors 6 are evenly arranged around the fuselage 1. The ultrasonic sensors 2 are used to detect obstacles in four directions of front, rear, left and right of the fuselage 1. The ranging sensors 6 It is used for distance detection between the body 1 and obstacles; a CMOS module 4 is set on the body 1 to collect image frame data;

[0030] Step 2, the start signal is detected, and the sweeping robot starts to work;

[0031] Step 3, start the ultrasonic sensor, detect obstacles, and obtain obstacle information;

[0032] Step 4, whether there is an obstacle in front, if there is no obstacle, go to step 2; If there is no obstacle, then perform step 2. If there is an obstacle in ...

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Abstract

The invention provides a detecting method for a trapped floor-cleaning robot. The method comprises the steps that (1) four ultrasonic sensors and four distance measuring sensors are uniformly arranged around the robot body; (2) when a start signal is detected, the floor-cleaning robot starts to work; (3) the ultrasonic sensors are started to carry out obstacle detection to acquire obstacle information; (4) whether an obstacle is in front is detected, and if so, whether obstacles are in rear, left and right directions is detected in turn; and (5) whether the distance between an obstacle and the robot body reaches a preset value. According to the step (5), if the preset value is not reached, the distance between the obstacle and the robot body is acquired again; if the preset value is reached, a main motor drives the robot body to move in an obstacle-free direction; and if obstacles are in all four directions, the step of trap dispensing is carried out. According to the invention, the working floor-cleaning robot can bypass obstacles, or is prevented from direct collision when cleaning dead corners; the movement trajectory of the robot body is acquired through image recognition analysis when the floor-cleaning robot body is trapped; and the method helps the robot body to automatically get rid of trap.

Description

technical field [0001] The invention relates to the technical field of automation control, in particular to a detection method for a sweeping robot being trapped. Background technique [0002] Sweeping robot, also known as automatic cleaning machine, intelligent vacuum cleaner, robot vacuum cleaner, etc., is a kind of smart household appliances, which can automatically complete the floor cleaning work in the room by virtue of certain artificial intelligence. Generally, brushing and vacuuming are used to absorb the debris on the ground into its own garbage storage box, so as to complete the function of ground cleaning. Because of its easy-to-operate functions and convenience, it has gradually become popular nowadays and has become a common household appliance for office workers or modern families. The body is a movable device with automation technology, and the vacuum cleaner with a dust box, cooperates with the body to set the control path, and walks repeatedly in the room,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/02G01S15/93
CPCG01S15/86G01S15/93
Inventor 刘尚争刘群坡王泽生杨旭朱清慧翟天嵩
Owner 南阳中衡环保科技有限公司
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