Cleaning robot drop control method and chip based on virtual boundary

A technology for cleaning robots and control methods, applied in the field of drop control methods and chips for cleaning robots based on virtual boundaries, which can solve problems such as damage to the fuselage, misjudgment of movement, and large braking distances, so as to improve the ability to prevent falls and improve accuracy , the effect of reducing the degree of damage

Active Publication Date: 2019-04-12
AMICRO SEMICON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the process of detecting the robot's anti-fall stability, the infrared distance measuring module is usually used to calculate the safe distance, and this position is automatically edited as a virtual wall to bypass, but some road conditions cannot be detected by the infrared distance measuring module, which affects Stability of robot drop detection
[0003] In the home environment, since the furniture and items on the ground will move and the ground environment changes, the self-propelled robot needs to rebuild the environment map, which will take more time, especially when the robot is cleaning on the carpet surface. Because the robot is subjected to the offset force of the carpet and has forward inertia, the robot has a large braking distance before it can complete the construction of the map and instant positioning, which means that the delayed response of the positioning system will affect the robot's safety distance and danger. The confirmation of the area makes it easy to fall in the cliff area. At the same time, because the surface of the carpet is sparse, the infrared light will be scattered when it shines on the surface, so the map established by the robot based on the sensor sensing data is offset, resulting in movement Misjudgment, causing the robot to fall and destroy the fuselage

Method used

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  • Cleaning robot drop control method and chip based on virtual boundary
  • Cleaning robot drop control method and chip based on virtual boundary
  • Cleaning robot drop control method and chip based on virtual boundary

Examples

Experimental program
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Effect test

Embodiment 1

[0031] Embodiment 1 provides a method for judging that the sensing parameters of the cleaning robot at the current position satisfy the first judging condition, such as figure 2 As shown, it includes: judging from the beginning and entering step S201; step S201, judging whether the numerical difference of the same unit dimension between the infrared distance and the ultrasonic distance is less than the first preset distance, and if so, proceeding to step S202. In step S201, setting different types of sensors can prevent the occurrence of false detection by a single sensor, thereby improving the stability of the anti-drop detection of the whole system.

[0032] Step S202, judging whether the infrared distance is less than a second preset distance, if yes, proceed to step S203. The second preset distance is based on the infrared sensor's prediction of whether the cleaning robot falls within the falling distance range.

[0033] Step S203, judging whether the ultrasonic distance...

Embodiment 2

[0036] In the second embodiment, the cleaning robot is provided with a downward-looking sensor and an edge sensor, and a detection sensor (hereinafter also referred to as a sensor for short) refers to a downward-looking sensor, that is, a sensor that monitors the walking surface of the cleaning robot. Detection sensor parameters (hereinafter also referred to as sensor parameters) refer to the parameters corresponding to the minimum light intensity. If the light intensity is less than or equal to the predetermined minimum light intensity, it is considered that a deep pit that may pose a threat to the cleaning robot is encountered in the front, and the main control unit of the robot sends a direction-changing command to the drive universal wheel, so that the cleaning robot stays in place. Turn, for example, back and forth, then change direction. The value corresponding to the minimum light intensity is set as a sensor parameter, and changing the sensor parameter means changing t...

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Abstract

The invention discloses a cleaning robot drop control method and a chip based on a virtual boundary. A cleaning robot is provided with an environmental information sensing component. The cleaning robot drop control method comprises the following steps: accepting an external drawing instruction of a virtual boundary on a display screen, setting a virtual boundary according to a preset safety distance, and delineating a predetermined cleaning area based on the virtual boundary; monitoring a sensing parameter from the ground of the predetermined cleaning area by utilizing the environmental information sensing component while the cleaning robot starts a cleaning mode; when the sensing parameter does not satisfy a first determination condition, controlling the cleaning robot to continue the original planned cleaning in the predetermined cleaning area; when the sensing parameter satisfies the first determination condition, controlling the cleaning robot to turn and retreat in situ, then adjusting the safety distance, and changing the predetermined cleaning area based on the adjusted safety distance. By adopting the method provided by the invention, the detection ability and the work efficiency of the cleaning robot anti-drop stability are improved, and the damage degree of the robot is reduced.

Description

technical field [0001] The invention relates to the technical field of robot drop prevention, in particular to a method for controlling the drop of a cleaning robot based on a virtual boundary and a chip. Background technique [0002] Existing sweeping robots need to determine the working boundary based on the environmental map when performing work planning. It is mentioned that it is first necessary to determine whether the self-propelled robot has an environmental map stored. If not, it is necessary to detect the working environment through the environmental information sensing component. Environmental information and build an environmental map, and finally the user forms the working boundary on the environmental map. In the process of detecting the robot's anti-fall stability, the infrared distance measuring module is usually used to calculate the safe distance, and this position is automatically edited as a virtual wall to bypass, but some road conditions cannot be detec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A47L11/24A47L11/40G01S17/08G01S15/08
CPCA47L11/24A47L11/40A47L11/4008A47L11/4061A47L2201/00A47L2201/04G01S15/08G01S17/08G05D1/0274G05D2201/0203
Inventor 许登科姜新桥
Owner AMICRO SEMICON CORP
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