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Processing method and chip for robot encountering obstacle

A processing method and robot technology, applied in the direction of instruments, manual sweeping machines, two-dimensional position/channel control, etc., can solve the problems of low cleaning efficiency, rigidity, and inability to meet the high-efficiency needs of users, and achieve improved cleaning efficiency and improved cleaning efficiency. Intelligent effect

Active Publication Date: 2017-12-19
AMICRO SEMICON CORP
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AI Technical Summary

Problems solved by technology

Therefore, these two methods are relatively rigid, which makes the cleaning efficiency of the robot very low and cannot meet the efficient needs of users.

Method used

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  • Processing method and chip for robot encountering obstacle
  • Processing method and chip for robot encountering obstacle
  • Processing method and chip for robot encountering obstacle

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Embodiment Construction

[0033] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:

[0034] When the sweeping robot is cleaning, it usually takes the charging stand or some other point as the origin, establishes a block area in the form of a grid map, and then performs bow-shaped cleaning for each grid area in sequence. The so-called bow-shaped cleaning means that when the robot travels in a straight line along the moving path to the turning point, it turns to 90° and travels to a certain width, and then turns to 90° so that the current direction of travel is opposite to the direction of the original moving path, and then continues to the next step. turning point. Because the trajectory of the robot in this way is similar to a bow, it is called bow-shaped cleaning. The turning point is a position point when the robot reaches the boundary of the grid area or detects an obstacle such as a wall that meets the turning condition.

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Abstract

The invention relates to a processing method and chip for a robot encountering an obstacle. The robot determines the next motion by determining the position and the distance relationship between the current obstacle point and the projection point of a reference starting point. The robot is enabled to immediately turn around to clean the current open area if a space behind the obstacle is not sufficient. Detection behind the obstacle is not needed. If the space behind the obstacle is sufficient, the robot can bypass the obstacle to clean an area behind the obstacle. The problem that the cleaning efficiency of the robot is reduced, which is caused by the fact that a large area is not timely cleaned, is avoided. Through the processing method or chip, the intelligence of the robot is improved, and the cleaning efficiency of the robot is greatly improved.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a processing method and a chip for a robot encountering an obstacle. Background technique [0002] It is very common for the robot to encounter obstacles in the process of cleaning the ground, such as a fan, wall or table legs. It is very important to deal with these obstacles when the robot encounters them, because this directly affects the cleaning efficiency. There are two ways to deal with it at present, either go around along the edge of the obstacle, or turn around directly. If you go around along the edge of the obstacle, you may not find an area that can be cleaned after you go around; if you turn around directly, there may be a large area on the other side of the obstacle that has not been cleaned in time. Therefore, these two methods are relatively rigid, which makes the cleaning efficiency of the robot very low and cannot meet the high-efficiency needs of users. Conten...

Claims

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Application Information

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IPC IPC(8): G05D1/02A47L11/24
CPCA47L11/24G05D1/0219G05D1/0231
Inventor 李永勇
Owner AMICRO SEMICON CORP
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