Robot control method and chip

Abstract

The invention relates to a control method and a chip for a robot. In the process of cleaning according to the bow-shaped trajectory, when the robot cleans along the obstacle boundary for the first time and collides with the obstacle, the obstacle deflects or the driving wheel slips, the robot still remains. The error data generated during offset or slipping is recorded as normal data, causing the robot to think that there are new areas that have not yet been cleaned, and will clean again along the obstacle boundary. This causes the robot to clean twice continuously along the same obstacle boundary. Repeatedly, the robot always cleans along the obstacle boundary, with very low cleaning efficiency and poor navigation accuracy. If the obstacle detection unit detects that the robot has continuously cleaned two or more times along the same obstacle boundary, it can indicate that the robot is cleaning repeatedly and needs to clean in another area. This can ensure that the robot will not clean repeatedly at a certain location. , improving the robot’s navigation accuracy and cleaning efficiency.

Description

technical field [0001] The invention relates to the field of robots, in particular to a control method and a chip of a robot. Background technique [0002] At present, the sweepers on the market are mainly divided into two types: random sweepers and path planning sweepers. The most widely used is the random sweeper. Its strategy is that the sweeping robot keeps moving forward, and when it encounters an obstacle, it randomly turns a certain angle, and then continues to walk forward. This method is simpler to implement, but less efficient. The path planning type sweeper is based on the path planning of the environment map. According to the perception of the environment by its own sensors, it plans a safe operation route by itself, and at the same time completes the task efficiently. Commonly used environmental modeling methods include grid method, template model method, coordinate method, etc. Path planning technology is one of the core technologies of sweeping robots. The ...

AI Technical Summary

Problems solved by technology

During the cleaning process of the sweeping robot, due to the different ground to be cleaned, the ground friction force on the driving wheels is also different. The robot is prone to slipping when traveling on smooth ground, especially at the corner of the wall, and the robot is easy to collide with obstacles. At this time, the robot still records the error data generated during the offset or skid as normal data, which makes the constructed map wrong, causing the robot to mistakenly think that the area is a new area and continue to explore. In this area, the robot has been cleaning back and forth along the wall, unable to end the cleaning in this area and navigate to other areas, which makes the cleaning efficiency of the robot very low and the navigation accuracy is also poor

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