Method for judging the trapping of cleaning robot

A technology for cleaning robots and robots, applied in machine parts, manual sweeping machines, etc., can solve problems such as getting out of trouble, inability to distinguish wheels, and long time, and achieve the effects of easy implementation, good real-time performance, and simple and effective judgment process.

Inactive Publication Date: 2019-06-11
GUANGDONG JOY INTELLIGENT TECH CO LTD
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Problems solved by technology

However, this technology takes a long time to make a judgment, the real-time performance is not strong enough, and it cannot dis

Method used

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  • Method for judging the trapping of cleaning robot

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Embodiment approach 1

[0032] When the robot is stuck and fixed in place, within 5 seconds after the action, the side wheel odometer detects that the value V2 of the speed of the driving rollers on both sides is relatively large, and the rotation angle β of the driving rollers is not 0, but the speed of the universal wheel V1 is 0, and the angular velocity α detected by the gyroscope is basically 0. At this time, the speed V1 of the universal wheel and the speed V2 of the side wheel odometer do not conform to the set functional relationship, and the angular velocity α of the gyroscope and the side wheel odometer If the rotation angle β exceeds the preset threshold, it is judged that the robot is in a trapped state, and the robot needs to enter the escape mode.

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Abstract

The invention relates to the field of intelligent home robot, in particular to a method for judging the trappingof a cleaning robot. A gyroscope module, a universal wheel and a side wheel odometer areinstalled inside the robot, wherein the gyroscope module is used to calculate the rotation angle of the robot, the universal wheel is used to detect the current straight walk or turn of the robot, and the side wheel odometer is used to calculate the walking speed of the left and right wheels of the robot; the gyroscope module, the universal wheel and the side wheel odometer are electrically connected to a processor in the robot respectively, and the processor collects the data of the gyroscope module, the universal wheel and the side wheel odometer and calculates and analyzes the data; the method for judging the trapping of the cleaning robot mainly detects line speed and turning angle speed of the robot respectively through the gyroscope module, the universal wheel and the side wheel odometer in the robot, analyzes and calculates by the processor so as to judge whether the wheels on both sides of the robot are stuck or slipped seriously, the real-time judgment is good, and the judging process is simple, effective and easy to be achieved.

Description

technical field [0001] The invention relates to the field of smart home robots, in particular to a method for judging that a cleaning robot is trapped. Background technique [0002] Sweeping robot, also known as automatic cleaning machine, intelligent 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] In the prior art, there is a pressure sensor on the top of the sweeping robot. If the top pressure is greater than a certain set value, it proves that the machine is stuck by an obstacle, enters the escape mode, and starts the escape action. But the technology is limited to dete...

Claims

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Application Information

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IPC IPC(8): A47L11/24A47L11/40
Inventor 刘培
Owner GUANGDONG JOY INTELLIGENT TECH CO LTD
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