Judgement method for trapped robot and control method thereof for rescuing robot

Abstract

The invention relates to a judgement method for a trapped robot and a control method thereof for rescuing the robot. When barriers surround a sweeping robot, the exit is slightly wider than the sweeping robot body, by recording the number of different grid coordinates within a preset time and combining with the turning angle at which the robot turns around the barriers, the trapped situation of the robot is judged. If it is judged that the robot is trapped, every time the robot collides with the barriers, the robot makes a turn at a preset degree toward the same side in the marching directionand then advances again, and according to the judgement method for the trapped robot, it is determined that the robot gets rid of the trapped region. According to the methods, the problem that the sweeping robot is trapped during the sweeping process is solved, therefore the sweeping efficiency of the robot is improved.

Description

technical field [0001] The invention relates to the technical field of electronic information and intelligent control, in particular to a method for judging that a robot is trapped and a control method for getting out of it. Background technique [0002] Sweeping robot, also known as automatic cleaning machine, smart 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. This kind of robot detects the distance of obstacles such as furniture, office equipment and walls in the cleaning area through sensors, and triggers the sweeping robot to clean around the obstacles to complete the task of cleaning along the side. [0003] There are two main walking rules of the sweeping robot, including edge-to-edge and bow-shaped walking. Among them, bow-shaped walking is used to clean open areas; walking along the edge is used to clean the corner...

AI Technical Summary

Problems solved by technology

In the above method of judging being trapped, the predetermined number of times will be affected by the slippage of the robot-driven wheels, causing errors in the judgment; at the same time, the solution for getting out of trouble will be affected by the reflectivity of obstacles, and the exit width of the trapped area is not enough. Under certain circumstances, the robot will crash into an obstacle with high reflectivity, causing the robot to spin around in place, resulting in the problem of being unable to escape from the trapped area

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