Control method for robot to avoid charging base, chip and robot

Abstract

The invention discloses a control method for a robot to avoid a charging base, a chip and the robot, and the control method comprises the steps: controlling the robot to move in a current working region according to a preset planned path, and detecting the condition that the robot receives an anti-collision signal in real time; when the robot receives the anti-collision signal, determining the position of the charging base and the effective coverage area of the anti-collision signal according to the assembly characteristics of the infrared receiving sensor currently receiving the anti-collision signal on the robot; within a preset seat avoiding time after the position of the charging seat and the effective coverage area of the anti-collision signal are determined, limiting the robot to move outside the effective coverage area of the anti-collision signal according to a preset planned path, so that the robot within the preset seat avoiding time does not avoid the charging seat by receiving the anti-collision signal in real time, wherein the preset seat avoidance time is the time consumed by a pre-configured robot to traverse a preset working area outside the effective coverage areaof the anti-collision signal according to a preset planned path.

Description

technical field [0001] The invention relates to the field of control of a robot anti-collision avoidance seat, in particular to a control method, a chip and a robot for a robot to avoid a charging seat. Background technique [0002] At present, the sweeping robots on the market generally have the function of automatic recharging, and most of the charging stations use infrared signals to guide the sweeping robots to recharge. In order to ensure that the sweeping robot will not collide with the charging stand during the normal cleaning process, it generally avoids the charging stand by receiving the anti-collision signal sent by the charging stand. However, since most of the anti-collision signals of the charging stand are infrared light, and infrared The light is easily affected by environmental factors and becomes unstable. Therefore, the sweeping robot may not receive the anti-collision signal until it is relatively close to the charging stand. The anti-collision signal is...

AI Technical Summary

Problems solved by technology

In order to ensure that the sweeping robot will not collide with the charging stand during the normal cleaning process, it generally avoids the charging stand by receiving the anti-collision signal sent by the charging stand. However, since most of the anti-collision signals of the charging stand are infrared light, and infrared The light is easily affected by environmental factors and becomes unstable. Therefore, the sweeping robot may not receive the anti-collision signal until it is relatively close to the charging stand. The anti-collision signal is within the forbidden zone (the effective coverage area of ​​the anti-collision avoidance signal), and then the sweeping robot will turn left and right to back to avoid the charging seat. In this process, the sweeping robot always receives the anti-collision The signal is so trapped in this restricted area that the sweeping robot cannot effectively avoid the charging stand according to the infrared seat avoidance signal, causing the sweeping robot to often collide with the charging stand, which affects the normal cleaning work of the sweeping robot

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