Robot small-space escape method and device, computer equipment and storage medium

A robot and small space technology, applied in the field of robot navigation, can solve problems such as inability to continue cleaning work, easy to be trapped, and complex operating environment

Pending Publication Date: 2021-09-10
SHENZHEN UMOUSE TECH DEV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

During actual operation, the operating environment of the area to be cleaned is complex, including some narrow areas, such as corners where cabinets are placed, irregular areas composed of load-bearing columns and walls, etc. may form a narrow cleaning space. When the s

Method used

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  • Robot small-space escape method and device, computer equipment and storage medium
  • Robot small-space escape method and device, computer equipment and storage medium
  • Robot small-space escape method and device, computer equipment and storage medium

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Embodiment Construction

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the application; the terms used herein in the description of the application are only to describe specific embodiments The purpose is not to limit the present application; the terms "comprising" and "having" and any variations thereof in the specification and claims of the present application and the description of the above drawings are intended to cover non-exclusive inclusion. The terms "first", "second" and the like in the description and claims of the present application or the above drawings are used to distinguish different objects, rather than to describe a specific order.

[0042] Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The occurrenc...

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Abstract

The embodiment of the invention belongs to the technical field of robot navigation, and relates to a robot small-space escape method. The method comprises the steps of executing a fixing step in an escape state of controlling a robot to escape, and locking and fixing one side of the sweeping robot by a fixed wheel of the robot; driving a driving wheel opposite to the fixed wheel to rotate so as to drive the robot to rotate by taking the fixed wheel as a circle center; detecting collision, and if the collision occurs in a preset rotation angle range, driving the sweeping robot to retreat and rotate so as to be separated from a collided obstacle; and executing the fixing step repeatedly until the collision occurs outside the preset rotation angle range, and achieving the escape. One wheel of the robot is fixed to serve as the fixed wheel, the driving wheel opposite to the fixed wheel is driven to rotate, the sweeping robot is driven to rotate around the fixed wheel, the sweeping robot tries to come out of a trapped area in a rotating mode, and efficient separation from the narrow trapped area can be achieved through the scheme.

Description

technical field [0001] The present application relates to the technical field of robot navigation, in particular to a method, device, computer equipment and storage medium for a robot to escape from difficulties in a small space. Background technique [0002] The sweeping robot can clean an area autonomously, which greatly reduces the manpower required for cleaning. During actual operation, the operating environment of the area to be cleaned is complex, including some narrow areas, such as corners where cabinets are placed, irregular areas composed of load-bearing columns and walls, etc. may form a narrow cleaning space. When the sweeping robot walks in the above environment, it is easy to get trapped and cannot continue the subsequent cleaning work. When the sweeping robot runs into a small space, it needs a suitable navigation method to help the sweeping robot get out of trouble by itself. Contents of the invention [0003] The purpose of the embodiment of the present a...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0276
Inventor 谢涛
Owner SHENZHEN UMOUSE TECH DEV
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