CN110192814A - It gets rid of poverty method and from mobile device from mobile device - Google Patents
It gets rid of poverty method and from mobile device from mobile device Download PDFInfo
- Publication number
- CN110192814A CN110192814A CN201910539370.5A CN201910539370A CN110192814A CN 110192814 A CN110192814 A CN 110192814A CN 201910539370 A CN201910539370 A CN 201910539370A CN 110192814 A CN110192814 A CN 110192814A
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- China
- Prior art keywords
- mobile device
- poverty
- rid
- pretreatment operation
- control
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses get rid of poverty method from mobile device, comprising: driving moves forward from mobile device；Judge to continue to move forward from mobile device；If cannot continue to move forward from mobile device, control executes first from mobile device and gets rid of poverty pretreatment operation；It is described to execute second from mobile device and get rid of poverty pretreatment operation if cannot still continue to move forward after pretreatment operation is got rid of poverty in execution first from mobile device；Driving is retreated from mobile device；Judge to retreat from mobile device success；If can successfully retreat from mobile device, control executes third from mobile device and gets rid of poverty pretreatment operation；If cannot successfully retract from mobile device, control executes the 4th from mobile device and gets rid of poverty pretreatment operation.Scheme disclosed by the invention, which to execute to get rid of poverty in time when being blocked or bottled up by object during the motion from mobile device, to be operated far from stranded point, is increased and is got rid of poverty performance from mobile device, is promoted from mobile device efficiency, improve product usage experience.
Description
Technical field
The present invention relates to intelligent equipment fields, more specifically get rid of poverty method and from mobile device from mobile device.
Background technique
With being constantly progressive for computer technology and artificial intelligence technology, similar to smart machine self-movement robot
Through start slowly come into people's lives.The companies such as iRobot, Samsung, LG, section's Butterworth, millet develop automatic dust-absorbing
Simultaneously market has been put into device.This usual compact of automatic dust catcher is integrated with environmental sensor, from drive system, dust suction
System, battery and charging system, can be not necessarily to manual control, and voluntarily automatic cruising and dust suction in working region is low in energy
When auto-returned charging station, dock and charge, then proceed to cruise and dust suction.
However, at present from mobile device (such as clean robot) when encountering the pointed object being raised on ground and blocking,
Motor, which is constantly often controlled, in stranded point from mobile device continues rotation until exhausting all along the direction rotated originally
From the power supply of mobile device, it will lead to not only have no idea to be spontaneously decoupled stranded point from mobile device in this way, and without timely
The strategy for being detached from stranded point makes motor dally power consumption, in this way can working efficiency of the band from mobile device lowly, user experience
Bad problem.
Summary of the invention
Technical problem to be solved by the present invention lies in, provide it is a kind of get rid of poverty method and from mobile device from mobile device,
It solves when being blocked from mobile device by pointed object, has no idea to be spontaneously decoupled stranded point from mobile device, so that motor is empty
Turn power consumption, the problem low from the working efficiency of mobile device, user experience is bad.
In order to solve the above-mentioned technical problem, the embodiment of the present invention uses following technical scheme:
The present invention provides a kind of to get rid of poverty method from mobile device, comprising:
Driving is described to be moved forward from mobile device；Can judgement is described to continue to move forward from mobile device；If described
It cannot continue to move forward from mobile device, then control is described executes first from mobile device and get rid of poverty pretreatment operation；If described
It cannot still continue to move forward after pretreatment operation is got rid of poverty in execution described first from mobile device, then control is described sets from movement
It is standby to execute second and get rid of poverty pretreatment operation；Driving is described to be retreated from mobile device；Judgement is described from after mobile device success
It moves back；If described can successfully retreat from mobile device, control is described to be executed third from mobile device and gets rid of poverty pretreatment operation；If institute
Stating cannot successfully retract from mobile device, then control is described executes the 4th from mobile device and get rid of poverty pretreatment operation.
Further, the described first pretreatment operation of getting rid of poverty includes: to increase the movement velocity from mobile device；Driving
It is described to be moved forward from mobile device continuation.
Further, described second get rid of poverty pretreatment operation include: label it is presently described from position of mobile equipment；According to mark
The presently described position from mobile device of note, control is described to be executed the 5th from mobile device and gets rid of poverty pretreatment operation.
Further, the described 5th pretreatment operation of getting rid of poverty includes: to be labeled as presently described from the position of mobile device
" bank "；" bank " information labeling by described in is in the motion maps from mobile device；Control is from mobile device in follow-up work
In be no longer pass through the position of the mark.
Further, the third get rid of poverty pretreatment operation include: record currently from the position of mobile device；Described in driving
It is retreated from mobile device；Control is described to get around the current from mobile device of the record by preset type of sports from mobile device
Position.
Further, the type of sports includes: circular motion, broken line movement.
Further, the 4th get rid of poverty that include: that control is described execute alarm from mobile device and get rid of poverty movement pretreatment operation.
Further, described in the control from mobile device execute alarm get rid of poverty movement include: increase from mobile device drive
The speed reversal of driving wheel；Continue to judge to retract from mobile device success；If still can not successfully retract from mobile device, control
System is described from mobile device alert.
Further, the alert can with when by driving from mobile device buzzer sounding inform user or
User is informed by sending information to mobile phone terminal from mobile device.
Further, it is described from mobile device be clean robot, service robot, Business Machine people and transfer robot
One of.
The utility model has the advantages that get rid of poverty method driving from mobile device from mobile device using above-mentioned, either clean robot, clothes
Business robot, Business Machine people or transfer robot can encounter blocked from mobile device by pointed object when, from mobile
Equipment has the strategy got rid of poverty, executes movement of getting rid of poverty accordingly so that get rid of poverty in time to stranded point from mobile device, increases
From the performance of getting rid of poverty of mobile device, the working efficiency from mobile device is promoted, and improves the usage experience of product.
The present invention also provides one kind from mobile device, including walking mechanism, is suitable for driving from mobile device in working surface
Upper movement；Controller is included, is suitable for generating various control instructions；And processor, it is suitable for handling a plurality of control instruction, the control refers to
Enable and be suitable for being loaded and being executed by processor: driving is described to be moved forward from mobile device；Can judgement is described after from mobile device
It is continuous to move forward；If described cannot continue to move forward from mobile device, control is described to get rid of poverty from mobile device execution first
Pretreatment operation；If described cannot still continue to move forward from mobile device after pretreatment operation is got rid of poverty in execution described first,
Then control is described executes second from mobile device and gets rid of poverty pretreatment operation；Driving is described to be retreated from mobile device；
Judgement is described to be retreated from mobile device success；If described can successfully retreat from mobile device, described in control
Third is executed from mobile device to get rid of poverty pretreatment operation；If described cannot successfully retract from mobile device, control is described from shifting
Dynamic equipment executes the 4th and gets rid of poverty pretreatment operation.
The utility model has the advantages that it is of the invention from mobile device, including clean robot, service robot, Business Machine people are still
Transfer robot encounter blocked by pointed object when, have the strategy got rid of poverty from mobile device, execute movement of getting rid of poverty accordingly
So that getting rid of poverty in time to stranded point from mobile device, increase the performance of getting rid of poverty from mobile device, is promoted from mobile device
Working efficiency, and improve the usage experience of product.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other variants are obtained according to these attached drawings.
Fig. 1 shows a kind of moving scene schematic diagram according to an embodiment of the invention from mobile device；
Fig. 2 shows a kind of moving scene schematic diagrames according to an embodiment of the invention from mobile device；
Fig. 3 shows a kind of moving scene schematic diagram according to an embodiment of the invention from mobile device；
Fig. 4 is shown according to the present invention to get rid of poverty method implementation flow chart from mobile device；
Fig. 5 shows according to an embodiment of the invention from each module connection figure of mobile device；
Wherein, the above drawings include the following reference numerals:
1, from mobile device；2, barrier；3, contract point；4, controller；5, memory；6, actuator；7, communication module.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
The present invention mention from mobile device include but is not limited to clean robot, service robot, Business Machine people and
Transfer robot.
Embodiment 1:
It is as Figure 1-Figure 4:
The present invention discloses a kind of method of getting rid of poverty from mobile device, so that being stranded during the motion from mobile device
The movement got rid of poverty is executed when firmly to get rid of poverty in time.Of the invention includes: from the method for getting rid of poverty of mobile device
Driving travels forward from mobile device 1.It is either set from movement from mobile device 1 towards original direction movement
Standby 1 moves towards the original direction of motion is deflected it is possible that can be on the ground of its movement during moving from mobile device 1
The upper object that there is protrusion or pointed object may will be blocked from mobile device 1, but because of the intelligence from mobile device 1
Change degree not yet reaches the ability that can be distinguished from thinking, i.e., can not be accurate according to different the case where motion ground at any time and has
The place for being unfavorable for its movement is selectively avoided, so there are classes encountering front in the process of movement from mobile device 1
Like with protrusion perhaps pointed object when still can be towards these protrusions or pointed object of which movement, in this way from mobile device 1
Then to be blocked from the fuselage of mobile device 1 by these protrusions or pointed object, in order to enable can be certainly from mobile device 1
Row gets rid of poverty to these scenes, needs further to carry out movement of getting rid of poverty to from mobile device 1.
Judge to continue to move forward from mobile device 1.Judge that can it continue forward for passing through from mobile device 1
Movement so that it is determined that whether being blocked from mobile device 1 by objects in front barrier 2, or determines the machine from mobile device 1
Body whether by ground protrusion or pointed object contract point 3 block, it is also possible to entered one from mobile device
After a narrow space because no matter be rotationally advancing from mobile device 1 toward which direction be likely to because from mobile device 1 with it is narrow
The wall in small space constantly collide and cause to be trapped in narrow space can not go out it is saturating.If can continue to transport forward from mobile device 1
It is dynamic then illustrate not to be caught in from mobile device 1 at present, but illustrating if it cannot be moved forward at this time may from mobile device
It has been caught in.
If described cannot continue to move forward from mobile device 1, namely stranded from mobile device 1, then control is described from shifting
Dynamic equipment 1 executes first and gets rid of poverty pretreatment operation.Judgement for the motion state from mobile device 1 is set to from movement in real time
The case where being judged, cannot be moved forward for it for 1, it may be possible to because from mobile device 1 by 2 institute of objects in front barrier
Stop, it is also possible to be from mobile device 1 by ground protrusion or pointed object contract point 3 block, while also may be used
It can be trapped in narrow regions for being moved in narrow space region from mobile device and can not come out.
For the first case:
Stopped from mobile device 1 by objects in front 2, because having obstacle sensor from 1 front end of mobile device, and
The sensor such as camera, laser sensor, proximity sensor etc. of other detection barriers, if being touched from 1 front end of mobile device
It hits sensor-triggered and then illustrates there is the blocking of barrier 2 from front of mobile device, also having another implementation method is existed by setting
From in mobile device 1 camera or laser sensor be higher than from the barrier 2 of mobile device 1, for such to identify
The barrier of type and the barrier detected because of crash sensor then can take control to rotate centainly from mobile device 1
It after angle, then controls from mobile device 1 and leaves the place being blocked, or take the movement velocity increased from mobile device
Afterwards, be further continued for being moved along trial can the barrier 2 further to front carry out across in the past or can pushing obstacle
The continuation of object 2 moves forward, and barrier 2 is made not block the direction of motion from mobile device 1.
For second situation:
Namely encounter protrusion on ground or pointed object contract point 3 from mobile device 1 and jacked up or be stuck, make
It cannot be continued forward to move again by card derived from 1 fuselage of mobile device, then it can be by increasing it from mobile device from mobile device 1
1 driving motor current/voltage increases the velocity of rotation from 1 driving wheel of mobile device, reaches the fortune increased from mobile device 1
Dynamic speed, then drive from mobile device 1 and continue to move toward the direction of motion, increase from 1 movement velocity of mobile device, so that from mobile
Equipment is easier to realize the disengaging to situation is stranded by card, reduces from the stranded time of mobile device, to realize increase from shifting
The working efficiency of dynamic equipment.In order to enable can smoothly get rid of poverty from mobile device 1, increasing driving from 1 turn of mobile device at this time
First control before fast and rotate by a certain angle from mobile device 1, or first control turn over certain angle from mobile device 1 after increase again
From the movement velocity of mobile device 1, it is also possible to increase turn from mobile device 1 while control is rotated from mobile device 1
Speed.
For the third situation:
Namely narrow regions are entered from mobile device 1, from the rotation of mobile device 1 i.e. to the object such as wall for being in its side
Perhaps barrier generates collision due to that can be provided with crash sensor or proximity sensor from mobile device 1 to wall, is moving certainly
Dynamic equipment 1 can generate direction of rotation when encountering object to hide collision object.Due to can not be with from the direction that mobile device 1 rotates
The shape of barrier, size and make accurate adjustment ceaselessly turn so that being sunk into from mobile device 1 in narrow space
Curved ceaselessly collide and enter endless loop, power supply is lost, causes can not to get rid of narrow space limitation from mobile device 1, for
Such case is encountered, can be by the position of record narrow space inlet from mobile device, adjustment moves certainly in time when returning again to
The dynamic positive front end of equipment 1 and inlet position make straight line, pass in and out along linear motion, or control is logical from mobile device 1
It crosses in preset time T0 from mobile device 1 by collision frequency N1 compared with the collision frequency N0 of systemic presupposition, if
Collision frequency N1 is then controlled more than default collision frequency N0 and is sent an SOS from mobile device 1, or judgement is set from movement
The standby 1 distance S1 that it is moved in preset time T0 is compared with the move distance S0 of systemic presupposition, if the distance of movement
S1 is less than systemic presupposition distance value S0, then also control sends an SOS from mobile device 1, so that user is either and from moving
The other equipment of dynamic 1 coupled movements of equipment are saved from mobile device 1 trapped in time.
It handles by the first pretreatment operation of getting rid of poverty from mobile device 1, it is trapped convenient for being got rid of from mobile device 1
Status, but be not that all situations can be achieved with being detached from originally after getting rid of poverty pretreatment operation from the execution of mobile device 1 first
Trapped situation needs to do at this time further judgement processing.
It gets rid of poverty after pretreatment operation by first, if still can not continue to move forward from mobile device 1, control is from moving
Dynamic equipment 1 executes second and gets rid of poverty pretreatment operation.In order to more clearly know the work shape locating for the mobile device 1 instantly
Condition, driving are retreated from mobile device 1, by judge to retreat from 1 success of mobile device take it is different get rid of poverty it is tactful with
So that adapting to make it successfully get rid of poverty using different motion modes when encountering different motion scene from mobile device 1.Tool
For body, if can successfully retreat from mobile device 1, control executes third from mobile device 1 and gets rid of poverty pretreatment operation；If from moving
Dynamic equipment 1 cannot successfully retract, then control executes the 4th from mobile device 1 and gets rid of poverty pretreatment operation.
The movement shape clearly known from mobile device 1 and be presently in can be enabled by the second pretreatment operation of getting rid of poverty
State, and by the position being presently in record remain behind, then by communication mode informing with from mobile device 1 it is associated other
Sports equipment allows other sports equipments to share the operation information from mobile device 1, is stranded information, so that its
His sports equipment is selectively avoided, and avoids movement stranded, for from mobile device 1, by recording currently from mobile
The location of equipment 1 avoids moving to position instantly again from mobile device 1 next time.Specifically, label is currently from shifting
From the position where mobile device 1 when dynamic equipment 1 can not continue to move forward, according to the position from mobile device 1 marked instantly
It sets, further improve is done to the path of the map and movement that are created from mobile device 1 and is handled.Because can from mobile device 1
2 distribution situation of region and barrier that space is known with the map according to creation, is higher by for some from mobile device 1
Barrier 2 can directly be known according to the sensor of its installation from mobile device 1 and confirm the barrier of these types.On ground
Increase the information of stranded point on figure so as to derive from mobile device 1 when transporting to some regions to the stranded point for being in the region
Coordinate information is controlled comprehensively, and the map preferably constructed from mobile device 1 using itself hides to barrier to execute
It keeps away and gets rid of poverty to stranded point.It is mentioned above to construct map from mobile device 1, method can be through laser slam or
Vision vslam form creates area map, can also be and estimates the posture information from mobile device 1 using particle filter to construct
Grating map, finally it should be noted that the method for constructing map from mobile device 1 includes but is not limited to that the above-mentioned movement being mentioned to is empty
Between map constructing method.
Second pre- processing operation of getting rid of poverty:
Label is specifically included currently from 1 position coordinates of mobile device, according to the current position from mobile device 1 of label,
Control executes the 5th from mobile device 1 and gets rid of poverty pretreatment operation.Wherein, the 5th get rid of poverty pretreatment operation include: will be current from moving
The position of dynamic equipment 1 is labeled as " bank ", and by " bank " information labeling in the motion maps from mobile device 1, control is set from movement
Standby 1 selectively avoids in follow-up work by the position of standard.In order to enable from mobile device 1 more intelligently to space
Region be marked and the building accuracy of space map and reach in time adapt to space object change in location demand, need to mend
Fill explanation is for can directly be set from mobile device 1 by the movement certainly that is higher than that its own sensor installed directly senses
Standby 1 itself barrier 2, for the barrier 2 of this type, when moving to labeled point " bank " again from mobile device 1
When near position, can by from mobile device 1 according to camera or infrared sensor and laser sensor etc. examine
Survey whether the barrier 2 that labeled point is " bank " present position has been removed, it, will be original if barrier 2 has been removed
" bank " information being labeled on map is ignored, namely deletes " bank " information of original standard, controls from 1 direction of mobile device
The position coordinates of " bank " information originally marked are mobile, but for being set from movement lower than the barrier 2 from 1 height of mobile device
Standby 1 can not know whether it has been removed, for the barrier 2 of this type, from mobile device 1 by the information originally marked
Execution is evaded.
Third is got rid of poverty pretreatment operation:
Third pretreatment operation of getting rid of poverty includes record currently from the position of mobile device 1, because getting rid of poverty pretreatment in third
Operation is prior in the state of carrying out it is determined that confirmed it is that can execute retrogressing at this time from mobile device 1, and control is set from movement
Standby 1 retreats, and controls the current position from mobile device 1 for getting around record by preset type of sports from mobile device 1.Here
Type of sports can be one of following several situations or several combinations, but be also not necessarily limited to following several forms of motion,
Such as: it can use in the opposite direction far from barrier 2 when colliding barrier 2, the form that broken line can also be taken to move
It is got around around barrier 2, while can also be detoured using circular arc and obstacle is gradually got around using the form of arc transition
Object 2, arc radius here can be the circular arc become larger and be convenient for detouring to barrier 2.
4th gets rid of poverty pretreatment operation:
If cannot smoothly retreat from mobile device 1, illustrate to be caught in from mobile device 1, such as the fortune being likely to be encountered
Dynamic scene is to be blocked from mobile device 1 by contract point 3, is got rid of poverty pretreatment operation as shown in Fig. 2, then needing to carry out the 4th, the 4th is de-
Tired pretreatment operation may include:
Change the direction of motion from mobile device 1；Control is retreated from mobile device 1；Increase from 1 driving motor of mobile device
Reverse；Record is currently from the position of mobile device 1；Judge to retreat from 1 success of mobile device again at this time, if automatically
Equipment 1 still can not be retreated successfully, then control is described issues warning note from mobile device 1；By the position current from mobile device 1
Tagging is " trap ", and will should " trap " improve to from the map that mobile device 1 construct, control from mobile device 1 again after
" trap " position is no longer pass through in continuous work.For warning message, the mode of alert, which can be, passes through driving
Inform that user is either accused by the voice module sounding being arranged from mobile device 1 from the buzzer sounding in mobile device 1
Know user or informs user by sending distress signals to mobile phone terminal in the connection of user terminal from mobile device 1.
Getting rid of poverty method from mobile device through this embodiment is caught in meeting it in space from mobile device
When, the function that can be got rid of poverty in time, and will improve map on stranded information standard to map increases the user experience of product, simultaneously
Information actively can be informed into user in the case where can not voluntarily get rid of poverty from mobile device, avoid having been at from mobile device by
Tired state and consume electric energy.In particular, this can be made clearly from the method for getting rid of poverty of mobile device applied to clean robot
Stranded region is in time evaded by clean robot, and clean robot is avoided to be stuck and can not work normally, and increases cleaner
Device task efficiency.
Embodiment 2:
As shown in figure 5, another embodiment of the invention discloses one kind from mobile device, it include walking from mobile device
Mechanism, from mobile device walking on the surface of work, auxiliary realizes the correlation function from mobile device, row for walking mechanism driving
Walking mechanism can be drive wheel assemblies, tracked wheel assemblies or is that other forms may be implemented the group mobile from mobile device
Part, the present embodiment further includes having controller 4, memory 5, actuator 6 and communication module 7 from mobile device, and each intermodule is logical
Bus is crossed to be connected, in which:
Controller 4 be built in from mobile device main body electronics calculate core, for execute logic operation step with
It realizes from the mobile intelligentized control method set.In the present embodiment, controller 4 is connect with actuator 5, for according to the controller
The instruction of output executes preset algorithm and carries out map composition and controlled accordingly from mobile device walking mechanism, makes robot
It is moved accordingly according to instruction execution.
Between controller 4, memory 5, actuator 6 and communication module 7 by way of bus, any the two is established
Between communication connection, for generating control instruction, memory 5 for control store instruction and passes through control instruction controller 4
Communication module 7 passes to actuator 6 and executes corresponding instruction, executes corresponding control instruction generation pair additionally by actuator 6
The electric signal answered further controls walking mechanism movement by the electric signal of generation, realizes the walking function from mobile device.
Actuator 6 can be any kind of single thread or the processor of multithreading.Actuator 6 can have one or
The multiple processing cores of person, for obtaining data, executing logical operation function and issuing calculation process result etc..
Memory 5 is non-volatile computer readable storage medium storing program for executing, for example, at least disk memory, a flash memories
Part, the distributed storage device remotely located relative to actuator 6 or other non-volatile solid state memory parts etc..It has
Program storage area, for storing non-volatile software program, non-volatile computer executable program and module.
These computer executable programs and functional module can be called for actuator 6 so that the execution of actuator 6 one
Or multiple method and steps.Memory 5 can also have data storage area, issue at the operation of output to store actuator 6
Manage result.
Communication module 7 is for establishing the hardware module communicated to connect between controller 4 and external function module.The communication
Module 7 can select the wireless or wire communication module of corresponding types, such as WiFi module, bluetooth mould according to actual needs
Block or input/output interface etc..
Based on the communication module 7, controller 4 can acquire user instruction and show corresponding interactive interface to user.Example
Such as, controller 4 can establish the connection between the intelligent mobile terminal of user by WiFi module, with APP or page end
Mode, acquire user instruction or show the working condition etc. current from mobile device such as sweeping robot to user.
In the present embodiment from mobile device, various control instructions are generated by controller 4, are loaded by actuator 6
And dependent instruction is executed to drive the walking mechanism movement from mobile device, wherein relevant instruction includes the following:
Driving moves forward from mobile device；
Judge to continue to move forward from mobile device；
If cannot continue to move forward from mobile device, control executes first from mobile device and gets rid of poverty pretreatment operation；
If cannot still continue to move forward after pretreatment operation is got rid of poverty in execution first from mobile device, control is certainly mobile
Equipment executes second and gets rid of poverty pretreatment operation；
Driving is retreated from mobile device；
Judge to retreat from mobile device success；
If can successfully retreat from mobile device, control executes third from mobile device and gets rid of poverty pretreatment operation；
If cannot successfully retract from mobile device, control executes the 4th from mobile device and gets rid of poverty pretreatment operation.
Wherein, the first pretreatment operation of getting rid of poverty includes: to increase the movement velocity from mobile device；Driving is set from movement
It is standby to continue to move forward.Second get rid of poverty pretreatment operation include: label currently from position of mobile equipment；According to label it is current from
The position of mobile device, control execute the 5th from mobile device and get rid of poverty pretreatment operation.5th get rid of poverty pretreatment operation include: by
Currently " bank " is labeled as from the position of mobile device；By " bank " information labeling in the motion maps from mobile device；Control is certainly
Mobile device is no longer pass through the position of the mark in follow-up work.Third get rid of poverty pretreatment operation include: record currently from move
The position of dynamic equipment；Driving is retreated from mobile device；It controls from mobile device and gets around the current of record by preset type of sports
From the position of mobile device.4th gets rid of poverty, and to include: that control is described execute alarm from mobile device and get rid of poverty movement pretreatment operation, reports
Alert movement of getting rid of poverty includes: the speed reversal increased from mobile device driving wheel；Continue to judge to retreat from mobile device success；
If still can not successfully retreat from mobile device, control is described from mobile device alert.
Through this embodiment from mobile device, when meeting it from mobile device and being caught in space, can and
When the function getting rid of poverty, and map will be improved on stranded information standard to map, increase the user experience of product, while from mobile
Information actively can be informed user in the case where can not voluntarily getting rid of poverty by equipment, avoid having been at trapped state from mobile device
And consume electric energy.In particular, clean robot can be made to evade in time to stranded region on clean robot, avoided
Clean robot is stuck and can not work normally, and increases the working efficiency of clean robot.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means particular features, structures, materials, or characteristics described in conjunction with this embodiment or example
It is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are different
Surely identical embodiment or example is referred to.Moreover, the particular features, structures, materials, or characteristics of description can be any one
It can be combined in any suitable manner in a or multiple embodiment or examples.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (11)
1. it gets rid of poverty method from mobile device, this method comprises:
Driving is described to be moved forward from mobile device；
Can judgement is described to continue to move forward from mobile device；
If described cannot continue to move forward from mobile device, described get rid of poverty from mobile device execution first of control pre-processes behaviour
Make；
If described cannot still continue to move forward from mobile device after pretreatment operation is got rid of poverty in execution described first, institute is controlled
It states and executes second from mobile device and get rid of poverty pretreatment operation；
Driving is described to be retreated from mobile device；
Judgement is described to be retreated from mobile device success；
If described can successfully retreat from mobile device, control is described to be executed third from mobile device and gets rid of poverty pretreatment operation；
If described cannot successfully retract from mobile device, control is described to be executed the 4th from mobile device and gets rid of poverty pretreatment operation.
2. according to claim 1 get rid of poverty method from mobile device, which is characterized in that described first gets rid of poverty pretreatment operation
Include:
Increase the movement velocity from mobile device；
Driving is described to be moved forward from mobile device continuation.
3. according to claim 1 get rid of poverty method from mobile device, which is characterized in that described second gets rid of poverty pretreatment operation
Include:
It marks presently described from position of mobile equipment；
According to the presently described position from mobile device of label, described get rid of poverty from mobile device execution the 5th of control pre-processes behaviour
Make.
4. according to claim 3 get rid of poverty method from mobile device, which is characterized in that the described 5th gets rid of poverty pretreatment operation
Include:
" bank " is labeled as from the position of mobile device by presently described；
" bank " information labeling by described in is in the motion maps from mobile device；
Control is no longer pass through the position of the mark from mobile device in follow-up work.
5. according to claim 1 get rid of poverty method from mobile device, which is characterized in that the third is got rid of poverty pretreatment operation
Include:
Record is currently from the position of mobile device；
Driving is described to be retreated from mobile device；
The control current position from mobile device for getting around the record by preset type of sports from mobile device.
6. according to claim 5 get rid of poverty method from mobile device, which is characterized in that the type of sports includes:
Circular motion, broken line movement.
7. according to claim 1 get rid of poverty method from mobile device, which is characterized in that the described 4th gets rid of poverty pretreatment operation
Include:
Control is described to execute movement of getting rid of poverty of alarming from mobile device.
8. the method for getting rid of poverty according to claim 7 from mobile device, which is characterized in that set described in the control from movement
It is standby to execute alarm movement of getting rid of poverty and include:
Increase the speed reversal from mobile device driving wheel；
Continue to judge to retreat from mobile device success；
If still can not successfully retreat from mobile device, control is described from mobile device alert.
9. the method for getting rid of poverty according to claim 8 from mobile device, which is characterized in that the alert can be with
It is that user is informed from mobile device buzzer sounding by driving or is informed by sending information to mobile phone terminal from mobile device
User.
10. getting rid of poverty method described in -9 any one from mobile device according to claim 1, which is characterized in that described from mobile
Equipment is one of clean robot, service robot, Business Machine people and transfer robot.
11. it is a kind of from mobile device, including walking mechanism, it is moved on the work surface suitable for driving from mobile device；Controller,
Suitable for generating various control instructions；And actuator, it is suitable for handling a plurality of control instruction, the control instruction is suitable for being added by actuator
It carries and executes:
Driving is described to be moved forward from mobile device；
Can judgement is described to continue to move forward from mobile device；
If described cannot continue to move forward from mobile device, described get rid of poverty from mobile device execution first of control pre-processes behaviour
Make；
If described cannot still continue to move forward from mobile device after pretreatment operation is got rid of poverty in execution described first, institute is controlled
It states and executes second from mobile device and get rid of poverty pretreatment operation；
Driving is described to be retreated from mobile device；
Judgement is described to be retreated from mobile device success；
If described can successfully retreat from mobile device, control is described to be executed third from mobile device and gets rid of poverty pretreatment operation；
If described cannot successfully retract from mobile device, control is described to be executed the 4th from mobile device and gets rid of poverty pretreatment operation.
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| CN110974088A (en) * | 2019-11-29 | 2020-04-10 | 深圳市杉川机器人有限公司 | Sweeping robot control method, sweeping robot and storage medium |
| CN111061215A (en) * | 2019-12-26 | 2020-04-24 | 北京市商汤科技开发有限公司 | Method and device for controlling robot to get rid of poverty and robot |
| CN112987725A (en) * | 2021-02-07 | 2021-06-18 | 珠海市一微半导体有限公司 | Obstacle-based avoidance method, chip and cleaning robot |
| CN113768420A (en) * | 2021-09-18 | 2021-12-10 | 安克创新科技股份有限公司 | Sweeper and control method and device thereof |
| CN113878575A (en) * | 2021-09-28 | 2022-01-04 | 深圳中智永浩机器人有限公司 | Wheel type chassis bank passing processing method and device, computer equipment and storage medium |
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