Detecting method of barrier collision by intelligent robot and mapping method

Abstract

The invention relates to a detecting method of barrier collision by an intelligent robot and a mapping method. The method includes steps of detecting and calculating the bias rate of the angle speed change of the robot through a milemeter on the existing driving wheel of a robot, a gyroscope and a processor in a machine body, and judging if the robot is slipped through the bias rate of the angle speed change; then confirming if the robot collides the barrier through judging if the current variance generated by the driving wheel is more than or equal to the setting value on the basis of the slippage of the robot. According to the detecting method of the barrier collision by the intelligent robot and the map structuring on the basis of the method detection result, the cost is relatively low, and the detecting method is not influenced by the mass or structure design of these special sensors, thus the robot structure is simplified, the production processing difficulties are reduced, and the service life and quality of the robot are improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a detection method and a mapping method for an intelligent robot to collide with an obstacle. Background technique [0002] At present, the mapping process of intelligent sweeping robots basically needs to identify obstacles (including walls), cliffs, and sometimes dangerous areas. Obstacles (including walls) can usually be detected by hardware collision devices, or infrared, ultrasonic, or laser sensors. Among them, the use of infrared, ultrasonic or excitation sensors for detection is costly, and the use of collision detection devices for detection has the following problems: 1. After a long time of use, it is easy to age, and it cannot be detected after aging, which will cause 2. The mold needs to be cleverly designed for these devices to achieve very good results, and at the same time it will bring inconvenience to production and other problems; 3. Because of the material or mold desig...

AI Technical Summary

Problems solved by technology

Among them, the use of infrared, ultrasonic or excitation sensors for detection is costly, and the use of collision detection devices for detection has the following problems: 1. After a long time of use, it is easy to age, and it cannot be detected after aging, which will cause 2. The mold needs to be cleverly designed for these devices to achieve very good results, and at the same time it will bring inconvenience to production and other problems; 3. Because of the material or mold design, it will bring manufacturing costs, maintenance cost increase

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