Anomaly detection method for robot walking along the edge and handling method for unstuck
An anomaly detection and robot technology, applied in the field of intelligent robots, can solve problems such as cumbersome operation and inconvenient use, and achieve the effects of ensuring accuracy, improving adaptability, and low cost of detection and judgment
Active Publication Date: 2021-11-19
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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[0018] 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.
[0019] 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.
[0020] 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 a method for detecting abnormality of a robot walking along a side and a method for processing a jam. The abnormal detection method can quickly and accurately determine whether the robot is stuck in the process of moving along the edge through different modes of the robot walking along the edge, combined with the robot deflection angular velocity, deflection angle, and obstacle detection. The detection and judgment only need to be based on the robot The self-configured gyroscope and the encoder on the drive wheel can be realized without adding other components, and the cost of detection and judgment is lower. In the processing method, when it is determined that the robot is stuck along the edge, first calibrate the current direction and position, and then set the direction and position at this time as the calibrated direction and position after the card is released, so as to prevent the robot from being stuck. , Drive wheel slippage and other reasons lead to inaccurate robot positioning information, ensure the accuracy of robot positioning and mapping, and improve the adaptability of inertial navigation robots in complex scenes.
Description
technical field [0001] The invention relates to the technical field of intelligent robots, and in particular to a method for detecting abnormality of a robot walking along a side and a method for handling a card breaking. 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 c...
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IPC IPC(8): A47L11/40A47L11/24
CPCA47L11/24A47L11/4011A47L11/4061A47L2201/04
Inventor 李永勇肖刚军赖钦伟
Owner AMICRO SEMICON CORP