Intelligent mobile device and control method thereof, and storage medium

Abstract

The invention discloses an intelligent mobile device and a control method thereof, and a storage medium. The intelligent mobile device is composed of a marching control module and a mode switching module. The marching control module controls the intelligent mobile device to move based on a zigzag path. The mode switching module is used for determining whether the intelligent mobile device is trapped in specific space and indicating a control unit to enter a first getting-out mode after determination of trapping of the intelligent mobile device in specific space. In the first getting-out mode,the marching control module is configured to enable the intelligent mobile device to carry out operations of collision, rotary marching, turning collision and rotary marching until the intelligent mobile device is determined to get out successfully or fail to get out. According to the invention, the intelligent mobile device can be prevented from being trapped in specific space. In addition, the control method of the intelligent mobile device and the storage medium also have the similar advantages.

Description

technical field [0001] The present invention relates to the technical field of an intelligent mobile device, and more particularly relates to an intelligent mobile device, a control method thereof, and a storage medium. Background technique [0002] With the improvement of living standards and the development of technology, smart mobile devices such as cleaning robots or sweepers have been widely used. At present, a path planning method for smart mobile devices is to use the inertial navigation system for path planning. Specifically, the inertial navigation system uses sensors such as odo, gyroscope, and optical mouse to cooperate with software control to make smart mobile devices walk according to the bow. method for cleaning, see figure 1 The schematic diagram of the path planning under the control of the inertial navigation system is shown. [0003] However, with the passage of time and the occurrence of some obstacles that need to be overcome, the cumulative error of t...

AI Technical Summary

Problems solved by technology

The smart mobile device enters from entrance c. Ideally, the travel path is from a to b to complete the goto logic and continue cleaning. However, due to the accumulated error of the smart mobile device, the smart mobile device will consider d as the entrance. In fact, After executing the logic from a to e, there will be a problem that d is not the entrance, and the smart mobile device cannot go out, but hits the wall, causing the smart mobile device to be stuck in this area

[0004] At present, most smart mobile devices can achieve functions such as overcoming obstacles and walking around obstacles, but they cannot achieve good separation when trapped in the above-mentioned small space, resulting in smart mobile devices being stuck in the small space

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