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De-trapping method and device for autonomous mobile device

A technology of autonomous movement and equipment, applied in two-dimensional position/channel control, motor vehicles, transportation and packaging, etc., can solve problems such as autonomous mobile equipment getting out of trouble

Active Publication Date: 2022-03-08
SUGAN TECH BEIJING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a method and device for getting out of trouble for an autonomous mobile device, so as to solve the problem that the existing autonomous mobile device with a visual camera and / or a distance measuring device is not clear whether the visual camera or the distance measuring device is invalid Tech issues that won't keep autonomous mobile devices out of trouble

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  • De-trapping method and device for autonomous mobile device
  • De-trapping method and device for autonomous mobile device
  • De-trapping method and device for autonomous mobile device

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Embodiment Construction

[0036] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0037] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate ...

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Abstract

The invention discloses a rescue method and device for autonomous mobile equipment. The method comprises the following steps: the autonomous mobile equipment runs in a working environment; acquiring environment data acquired by a sensing device of the autonomous mobile equipment, and judging whether the sensing device is in a suspected failure state or not according to the environment data; if it is judged that the sensing device is in the suspected failure state, the autonomous mobile device rotates by a first preset angle with the autonomous mobile device as the center; and obtaining an estimated rotation angle of the autonomous mobile device, comparing the estimated rotation angle with a first preset angle, and if a difference value between the estimated rotation angle and the first preset angle is greater than a first preset threshold value, executing an escape instruction. The technical problem that an existing autonomous mobile device with a visual camera and / or a distance measuring device cannot get rid of the dilemma under the condition that whether the visual camera or the distance measuring device fails or not is not clear is solved.

Description

technical field [0001] The invention relates to the field of automatic control of autonomous mobile equipment, in particular to a method and device for escaping from autonomous mobile equipment. Background technique [0002] Autonomous mobile devices (e.g. cleaning robots, babysitter robots, etc.) Is it invalid (for the visual camera, there are many reasons for the possible failure of the visual camera, for example, the camera is malfunctioning, the ambient light is too bright or too dark, there is too little feature information that can be extracted from the image captured by the visual camera, and the visual camera For distance measuring devices, such as laser range finders, depth cameras (TOF), etc., there are many reasons why the distance measuring devices may fail, for example, the interference of ambient light causes the distance measuring devices to fail to receive reflected light , or during the operation of the wheel set, the ranging device detects that its distanc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06V20/10
CPCG05D1/02G05D1/0246G05D1/0212G06T7/0002G06T2207/30168G05D1/027G06T5/70G05D1/249G05D1/245G05D1/646
Inventor 李帅领田武林安惠中吴欣张一茗陈震
Owner SUGAN TECH BEIJING