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Method for judging ending of edge-walking behavior of robot, chip and robot

A robot and behavioral technology, applied in the direction of instruments, two-dimensional position/channel control, non-electric variable control, etc., can solve problems such as inaccurate judgments, and achieve the effect of overcoming misjudgment problems

Pending Publication Date: 2020-11-06
AMICRO SEMICON CORP
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In order to overcome the problem of inaccurate judgment of complete one turn or multiple turns along the edge, the present invention discloses the following technical solutions:

Method used

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  • Method for judging ending of edge-walking behavior of robot, chip and robot
  • Method for judging ending of edge-walking behavior of robot, chip and robot

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Embodiment Construction

[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.

[0018] In the embodiment of the present invention, the robot starts from any position in the room to search for wall obstacles. When a wall is detected, the robot’s forward direction is adjusted to be parallel to the wall, and then the position where the wall is detected is recorded as the preset starting point along the edge. , record the coordinates of the robot and the forward angle of the robot (the angle of the robot’s forward direction relative to the X-axis direction or the angle of the robot’s forward direction relative to the Y-axis direction) in the real-time constructed map, and then start from this preset starting point along the edge. Walk along the side parallel to the wall (walking along the wall), wherein the forward direction of the robot is adjusted to be parallel to the exten...

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Abstract

The invention discloses a method for judging ending of an edge-walking behavior of a robot, a chip and the robot. The judgment method comprises the following steps: controlling the robot to walk alongthe edge from a preset edge starting point in the working area; when the position relation of the current position of the robot relative to the preset edge starting point meets the position posture coincidence condition, if it is judged that the length of the robot edge walking path relative to the perimeter of the edge covering rectangle framed in real time meets the path repetition condition, and it is judged that the area of the area occupied by the robot edge walking path relative to the area of the edge covering rectangle framed in real time meets the area covering condition, determiningthat the robot edge-walking behavior is ended. Compared with a single judgment condition in the prior art, the accuracy in judging wall-following ending is improved, and subsequent missing sweeping or repeated sweeping can be avoided.

Description

technical field [0001] The invention belongs to the technical field of a robot walking along a complete edge, and in particular relates to a method for judging the end of a robot's edge-walking behavior, a chip and a robot. Background technique [0002] Vacuuming robots often traverse and clean corner areas of a room by traveling along the walls of the room. Due to the variety of room wall layouts and room furniture in different families, it is easy to form a complex robot cleaning environment. At the same time, when the robot walks along the wall, the cumulative error of the sensor will become larger and larger, resulting in real-time positioning in the map. There is a large error between the position information of the robot and the actual position information of the robot itself, so that the judgment of a complete circle or multiple circles along the edge is inaccurate. Contents of the invention [0003] In order to overcome the problem of inaccurate judgment of comple...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0202
Inventor 赖峥嵘唐伟华
Owner AMICRO SEMICON CORP
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