Anomaly detection method for robot walking along straight edge and jam release processing method
A technology of abnormal detection and processing method, which is applied in the field of intelligent robots, can solve problems such as inconvenient use and cumbersome operation, and achieve the effect of ensuring accuracy and improving adaptability
Active Publication Date: 2020-07-17
AMICRO SEMICON CORP
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However, this method needs to store the reference elevation data in advance, which is inconvenient to use and cumbersome to operate
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[0017] The technical solutions in the embodiments of the present invention will be described in detail below with reference to the drawings in the embodiments of the present invention. It should be understood that the specific embodiments described below are only used to explain the present invention, not to limit the present invention.
[0018] In the following description, specific details are given to provide a thorough understanding of the embodiments. However, one of ordinary skill in the art would understand that the embodiments may be practiced without these specific details. For example, circuits may be shown in block diagrams in order not to obscure the embodiments in unnecessary detail. In other instances, well-known circuits, structures and techniques have not been shown in detail in order not to obscure the embodiments.
[0019] The robot described in the embodiment of the present invention can be a sweeping robot, a mopping robot and other intelligent cleaning e...
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The invention discloses an anomaly detection method for a robot walking along a straight edge and a jam release processing method. According to the anomaly detection method, deflection angles of the robot and detection data of a gyroscope and an encoder are combined; whether the robot is stuck or not in the straight edge walking process can be rapidly and accurately judged; detection and judgmentcan be achieved only on the basis of a gyroscope arranged on the robot and an encoder on a driving wheel, and other parts do not need to be additionally arranged; and the detection and judgment cost is lower. According to the processing method, when it is determined that the robot is stuck along the straight edge, firstly, the current direction and position are calibrated; and the direction and the position at the moment are set as the calibrated direction and the calibrated position after jam release, so that the problem of inaccurate positioning information of the robot caused by reasons such as slipping of the driving wheel and the like after the robot is jammed is avoided; the positioning and mapping accuracy of the robot is ensured; and the adaptive capacity of the inertial navigationrobot in a complex scene is improved.
Description
technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a method for detecting abnormality of a robot walking along a straight edge and a method for dealing with unstuck. Background technique [0002] At present, intelligent sweeping robots are all full-coverage, and they basically have a process along the wall, or a mode along the wall. When the robot runs along the wall and encounters some ridges that the sensors cannot detect, it will rush up directly, causing the fuselage to be stuck on the ridge, or the robot will be blocked by the ridge and cannot move forward, causing the wheels to slip. According to incomplete statistics, among the after-sales complaints of sweeping robots, the proportion of this problem is very high. The sweeping robot equipped with lidar performs well in this respect, because the radar data can be used to judge whether the machine is moving, etc., but the sweeping robot using inertial navigation ...
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IPC IPC(8): G05D1/02G01C21/16
CPCG05D1/0214G01C21/165
Inventor 李永勇肖刚军赖钦伟
Owner AMICRO SEMICON CORP