CN110192814B - Self-mobile equipment escaping method and self-mobile equipment - Google Patents
Self-mobile equipment escaping method and self-mobile equipment Download PDFInfo
- Publication number
- CN110192814B CN110192814B CN201910539370.5A CN201910539370A CN110192814B CN 110192814 B CN110192814 B CN 110192814B CN 201910539370 A CN201910539370 A CN 201910539370A CN 110192814 B CN110192814 B CN 110192814B
- Authority
- CN
- China
- Prior art keywords
- self
- moving
- moving equipment
- equipment
- controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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 a self-mobile equipment escaping method, which comprises the following steps: driving the self-moving equipment to move forwards; judging whether the self-moving equipment can continue to move forwards or not; if the self-moving equipment cannot move forwards continuously, controlling the self-moving equipment to execute a first escaping preprocessing operation; if the self-moving equipment cannot move forwards continuously after executing the first trapping removal preprocessing operation, executing a second trapping removal preprocessing operation by the self-moving equipment; driving the mobile equipment to retreat; judging whether the self-moving equipment can successfully retreat or not; if the self-moving equipment can successfully retreat, controlling the self-moving equipment to execute a third trapped-free preprocessing operation; and if the self-mobile equipment cannot successfully back, controlling the self-mobile equipment to execute a fourth trapped-free preprocessing operation. The scheme disclosed by the invention can timely execute the escaping operation when the mobile equipment is clamped or trapped by an object in the moving process and is far away from a trapped point, thereby increasing the escaping performance of the self-moving equipment, improving the efficiency of the self-moving equipment and improving the use experience of products.
Description
Technical Field
The invention relates to the field of intelligent equipment, in particular to a self-mobile equipment escaping method and self-mobile equipment.
Background
With the continuous progress of computer technology and artificial intelligence technology, self-moving robots similar to intelligent devices have started to slowly walk into the lives of people. Companies such as iRobot, Samsung, LG, Cowss, millet, etc. have developed fully automatic vacuum cleaners and have been put on the market. The full-automatic dust collector is small in size, integrates an environment sensor, a self-driving system, a dust collection system, a battery and a charging system, can automatically cruise and collect dust in a working area without manual operation, automatically returns to a charging station when the energy is low, is in butt joint and is charged, and then continues to cruise and collect dust.
However, when the self-moving device (such as a cleaning robot) is stuck by a pointed object protruding from the ground, the self-moving device often controls the motor to continuously rotate along the original rotation direction at the trapped point until the power supply of the self-moving device is exhausted, which may cause that the self-moving device may not only leave the trapped point by itself but also leave the trapped point in time, so that the motor consumes power during idle running, which may cause the problems of low working efficiency and poor user experience of the self-moving device.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a self-moving device and a method for getting rid of the trouble of the self-moving device, and solve the problems that when the self-moving device is clamped by a pointed object, the self-moving device cannot get out of the trouble point by itself, so that a motor runs idle and consumes power, the working efficiency of the self-moving device is low, and the user experience is poor.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
the invention provides a self-mobile equipment escaping method, which comprises the following steps:
driving the self-moving equipment to move forwards; judging whether the self-moving equipment can continue to move forwards or not; if the self-moving equipment cannot move forwards continuously, controlling the self-moving equipment to execute a first trap-removing preprocessing operation; if the self-moving equipment cannot continue to move forwards after the first trapping removal preprocessing operation is executed, controlling the self-moving equipment to execute a second trapping removal preprocessing operation; driving the self-moving equipment to retreat; judging whether the self-moving equipment can successfully retreat or not; if the self-moving equipment can successfully retreat, controlling the self-moving equipment to execute a third trapped-free preprocessing operation; and if the self-mobile equipment cannot successfully back, controlling the self-mobile equipment to execute a fourth trapped-free preprocessing operation.
Further, the first de-trapping preprocessing operation comprises: increasing a speed of motion of the self-moving device; and driving the self-moving equipment to move forwards continuously.
Further, the second escaping pre-processing operation comprises: marking the current mobile device position; and controlling the self-moving equipment to execute a fifth escaping preprocessing operation according to the marked current position of the self-moving equipment.
Further, the fifth de-trapping preprocessing operation includes: marking the current position of the self-mobile equipment as 'bank'; marking the 'bank' information in a motion map of the self-mobile equipment; and controlling the self-moving equipment to not pass through the marked position in subsequent work.
Further, the third de-trapping preprocessing operation comprises: recording the current position of the mobile equipment; driving the self-moving equipment to retreat; and controlling the self-moving equipment to bypass the recorded current position of the self-moving equipment according to a preset motion type.
Further, the motion types include: circular arc motion and broken line motion.
Further, the fourth escaping pre-processing operation comprises: and controlling the self-moving equipment to perform alarming and escaping actions.
Further, the controlling the self-moving device to execute the alarm escaping action comprises: increasing the reverse rotation speed of the drive wheel of the self-moving device; continuously judging whether the self-mobile equipment can successfully back off; and if the self-mobile equipment still cannot successfully back, controlling the self-mobile equipment to send alarm information.
Furthermore, when the alarm information is sent out, a buzzer of the mobile device is driven to sound to inform a user, or the mobile device sends information to the mobile phone terminal to inform the user.
Further, the self-moving apparatus is one of a cleaning robot, a service robot, a business robot, and a transfer robot.
Has the advantages that: the self-moving equipment is driven by the self-moving equipment escaping method, no matter the cleaning robot, the service robot, the business robot or the carrying robot can escape from the self-moving equipment when being stuck by a pointed object when the self-moving equipment is touched, the self-moving equipment is provided with an escaping strategy, and corresponding escaping actions are executed to enable the self-moving equipment to escape from an escaping point in time, so that the escaping performance of the self-moving equipment is improved, the working efficiency of the self-moving equipment is improved, and the use experience of products is improved.
The invention also provides self-moving equipment, which comprises a walking mechanism, a walking mechanism and a self-moving mechanism, wherein the walking mechanism is suitable for driving the self-moving equipment to move on a working surface; the controller is suitable for generating various control instructions; and a processor adapted to process a plurality of control instructions, the control instructions adapted to be loaded and executed by the processor: driving the self-moving equipment to move forwards; judging whether the self-moving equipment can continue to move forwards or not; if the self-moving equipment cannot move forwards continuously, controlling the self-moving equipment to execute a first trap-removing preprocessing operation; if the self-moving equipment cannot continue to move forwards after the first trapping removal preprocessing operation is executed, controlling the self-moving equipment to execute a second trapping removal preprocessing operation; driving the self-moving equipment to retreat;
judging whether the self-moving equipment can successfully retreat or not; if the self-moving equipment can successfully retreat, controlling the self-moving equipment to execute a third trapped-free preprocessing operation; and if the self-mobile equipment cannot successfully back, controlling the self-mobile equipment to execute a fourth trapped-free preprocessing operation.
Has the advantages that: when the cleaning robot, the service robot, the business robot or the transfer robot is stuck by the pointed object, the self-moving equipment has a difficulty-escaping strategy, and executes corresponding difficulty-escaping actions to enable the self-moving equipment to escape from a trapped point in time, so that the difficulty-escaping performance of the self-moving equipment is improved, the working efficiency of the self-moving equipment is improved, and the use experience of products is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other modifications can be obtained by those skilled in the art without creative efforts.
FIG. 1 illustrates a schematic diagram of a motion scene of a self-moving device according to an embodiment of the invention;
FIG. 2 illustrates a schematic diagram of a motion scene of a self-moving device according to an embodiment of the invention;
FIG. 3 illustrates a schematic diagram of a motion scene of a self-moving device according to an embodiment of the invention;
FIG. 4 is a flow chart of an implementation of a method for escaping from a mobile device according to the present invention;
FIG. 5 illustrates a connection diagram of modules from a mobile device, according to one embodiment of the invention;
wherein the figures include the following reference numerals:
1. an autonomous mobile device; 2. an obstacle; 3. wedging; 4. a controller; 5. a memory; 6. an actuator; 7. and a communication module.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Self-moving devices mentioned in the present invention include, but are not limited to, cleaning robots, service robots, business robots, and handling robots.
Example 1:
as shown in fig. 1-4:
the invention discloses a self-moving equipment escaping method, which enables self-moving equipment to execute escaping action in time when the self-moving equipment is trapped in the motion process. The invention discloses a self-moving equipment escaping method, which comprises the following steps:
the self-moving apparatus 1 is driven to move forward. When the self-moving device 1 moves towards the original direction or the self-moving device 1 moves towards the original direction, a raised object or a pointed object may exist on the ground moving on the self-moving device 1 in the process of moving from the self-moving device 1, but the self-moving device 1 may be blocked, because the intelligence degree of the self-moving device 1 does not reach the capacity of self-thinking discrimination, namely, the place which is not beneficial to the movement cannot be accurately and selectively avoided according to the situation of the moving ground at any time, when the self-moving device 1 encounters the object similar to the raised object or the pointed object in front in the moving process, the self-moving device 1 still moves towards the raised object or the pointed object, so that the body obtained from the self-moving device 1 is blocked by the raised object or the pointed object, and in order to enable the self-moving device 1 to escape from the scenes, further action to get out of trouble from the mobile device 1 is required.
It is determined whether the self-moving apparatus 1 can continue the forward movement. Whether the self-moving equipment 1 can continuously move forwards is judged, so that whether the self-moving equipment 1 is blocked by a front object obstacle 2 or whether the body of the self-moving equipment 1 is blocked by a bulge on the ground or a pointed object wedge 3 is determined, and the self-moving equipment can be trapped in a narrow space and cannot go out of the narrow space due to the fact that the self-moving equipment 1 continuously collides with the wall of the narrow space no matter which direction the self-moving equipment 1 rotates forwards after the self-moving equipment enters the narrow space. If the self-moving device 1 can continue to move forward, it indicates that the self-moving device 1 is not trapped, but if it cannot move forward, it indicates that the self-moving device may be trapped.
If the self-moving device 1 cannot continue to move forward, that is, the self-moving device 1 is trapped, controlling the self-moving device 1 to execute a first trapping-removing preprocessing operation. For the judgment of the motion state of the self-moving device 1, the self-moving device 1 is judged in real time, and for the situation that the self-moving device 1 cannot move forwards, the self-moving device 1 may be blocked by the front object obstacle 2, the self-moving device 1 may also be blocked by a bulge or a pointed object wedge 3 on the ground, and meanwhile, the self-moving device may be trapped in a narrow area and cannot get out in the narrow space area when moving to the narrow space area.
For the first case:
namely, the self-moving device 1 is blocked by the front object 2, because there is an obstacle sensor at the front end of the self-moving device 1, and other sensors for detecting obstacles, such as a camera, a laser sensor, a proximity sensor, etc., if the collision sensor at the front end of the self-moving device 1 is triggered, it is indicated that there is an obstacle 2 blocked by the front end of the self-moving device 1, there is another implementation method that the camera or the laser sensor arranged in the self-moving device 1 is used to identify the obstacle 2 higher than the self-moving device 1, and for the obstacle of this type and the obstacle detected by the collision sensor, the self-moving device 1 is controlled to leave the blocked place after rotating for a certain angle, or after the moving speed of the self-moving device is increased, the forward moving attempt is made whether to further pass the front obstacle 2 or push the obstacle 2 to move forward, so that the obstacle 2 does not block the direction of movement from the mobile device 1.
For the second case:
that is, the self-moving device 1 is touched with the protrusion or the sharp object wedge 3 on the ground and is jacked up or clamped, so that the body of the self-moving device 1 cannot move forwards any more, the current/voltage of the driving motor of the self-moving device 1 can be increased from the self-moving device 1, the rotating speed of the driving wheel of the self-moving device 1 is increased, the movement speed of the self-moving device 1 is increased, the self-moving device 1 is driven to move towards the movement direction, the movement speed of the self-moving device 1 is increased, the self-moving device is enabled to break away from the clamped condition more easily, the trapped time of the self-moving device is reduced, and the work efficiency of the self-moving device is increased. In order to enable the user to get rid of the trouble smoothly from the mobile device 1, at this time, the user may control the mobile device 1 to rotate by a certain angle before increasing the rotation speed of the user driving the mobile device 1, or control the mobile device 1 to rotate by a certain angle before increasing the movement speed of the mobile device 1, or may control the mobile device 1 to rotate and increase the rotation speed of the mobile device 1.
For the third case:
that is, when the mobile device 1 enters a narrow area, the mobile device 1 rotates to collide with an object located on the side of the mobile device 1, such as a wall or an obstacle, and since the mobile device 1 is provided with a collision sensor or a proximity sensor, the mobile device 1 can rotate to avoid the collision object when colliding with the object. Since the rotation direction of the self-moving device 1 cannot be accurately adjusted according to the shape and size of the obstacle, the self-moving device 1 enters a dead cycle due to ceaseless collision in a narrow space, the power is lost, and the self-moving device 1 cannot get rid of narrow space limitation, for the case, the self-moving device can record the position of the entrance of the narrow space, adjust the position of the front end and the entrance of the self-moving device 1 to form a straight line when returning, and move in and out along the straight line, or control the self-moving device 1 to compare the number of collided times N1 of the self-moving device 1 with the preset number of collision N0 of the system in the preset time T0, if the number of collision N1 exceeds the preset number of collision N0, the self-moving device 1 is controlled to send a distress signal, or the moving distance S1 of the self-moving device 1 in the preset time T0 is judged to be compared with the preset moving distance S0 of the system, if the moving distance S1 is smaller than the preset system distance value S0, the mobile device 1 is also controlled to send a distress signal, so that the user or other devices moving in association with the mobile device 1 can timely rescue the trapped mobile device 1.
The self-moving device 1 is processed through the first getting rid of trapping preprocessing operation, so that the self-moving device 1 is convenient to get rid of the trapped situation, but not all situations can realize getting rid of the original trapped situation after the first getting rid of trapping preprocessing operation is executed by the self-moving device 1, and at this moment, further judgment processing is needed.
After the first trap elimination preprocessing operation, if the mobile device 1 still cannot move forward, the mobile device 1 is controlled to execute a second trap elimination preprocessing operation. In order to more clearly know the current working condition of the self-moving equipment 1, the self-moving equipment 1 is driven to retreat, and different escaping strategies are adopted by judging whether the self-moving equipment 1 can retreat successfully or not, so that the self-moving equipment 1 can adapt to different movement modes when different movement scenes are met to successfully escape. Specifically, if the mobile device 1 can successfully retreat, the mobile device 1 is controlled to execute a third trapped-free preprocessing operation; and if the self-mobile device 1 cannot successfully back, controlling the self-mobile device 1 to execute a fourth trapped-free preprocessing operation.
The self-mobile device 1 can clearly know the current motion state through the second escaping preprocessing operation, the record of the current position is kept, and other motion devices associated with the self-mobile device 1 are informed through a communication mode, so that the other motion devices can share the running information and the trapped information of the self-mobile device 1, the other motion devices can be selectively avoided, the motion trapping is avoided, and for the self-mobile device 1, the next time the self-mobile device 1 moves to the current position again is avoided by recording the current position of the self-mobile device 1. Specifically, the position of the self-moving device 1 when the self-moving device 1 cannot move forward is marked, and a map and a moving path created by the self-moving device 1 are further refined according to the position of the self-moving device 1 marked currently. Since the self-moving apparatus 1 can know the area of the movement space and the distribution of the obstacles 2 from the created map, for some obstacles 2 higher than the self-moving apparatus 1, the self-moving apparatus 1 can directly know and confirm these types of obstacles from the sensors installed therein. The information of the trapped point is added on the map, so that the mobile device 1 can comprehensively control the coordinate information of the trapped point in some area when the mobile device is transported to the area, and the mobile device 1 can better utilize the map constructed by the mobile device to avoid obstacles and get rid of the trapped point. The map is constructed from the mobile device 1 by creating an area map in the form of laser slam or visual vslam, or by estimating pose information from the mobile device 1 by using particle filtering to construct a grid map, and it should be noted that the method for constructing the map from the mobile device 1 includes, but is not limited to, the above-mentioned motion space map construction method.
A second pre-trap handling operation:
specifically, the method comprises the steps of marking the position coordinates of the current self-moving equipment 1, and controlling the self-moving equipment 1 to execute a fifth trapped-free preprocessing operation according to the marked position of the current self-moving equipment 1. Wherein the fifth de-trapping preprocessing operation comprises: marking the current position of the self-moving equipment 1 as a 'threshold', marking 'threshold' information in a motion map of the self-moving equipment 1, and controlling the self-moving equipment 1 to selectively avoid the standard position in the subsequent work. In order to make the self-moving device 1 more intelligently mark a space area and build the accuracy of a space map and meet the requirement of timely adapting to the position change of a space object, it needs to be additionally explained that for an obstacle 2 higher than the self-moving device 1 and directly sensed by a sensor installed on the self-moving device 1, when the self-moving device 1 moves to the position near the position of a marked point "threshold", for the obstacle 2 of this type, whether the obstacle 2 at the position of the marked point, i.e. the "threshold", has been removed can be detected by a camera or an infrared sensor, a laser sensor and the like on the self-moving device 1, if the obstacle 2 has been removed, the original "threshold" information marked on the map is ignored, i.e. the original standard "threshold" information is deleted, the self-moving device 1 is controlled to move towards the position coordinate of the original marked "threshold" information, however, for the obstacle 2 lower than the height of the mobile device 1, the mobile device 1 cannot know whether the obstacle has been removed, and for the obstacle 2 of this type, the mobile device 1 may perform avoidance according to the originally marked information.
And a third trapped removal pretreatment operation:
the third escaping preprocessing operation includes recording the current position of the self-moving device 1 because it has been judged in advance that it is confirmed that the self-moving device 1 can perform the backward movement at this time in a state where the third escaping preprocessing operation is performed, controlling the self-moving device 1 to backward move, and controlling the self-moving device 1 to bypass the recorded current position of the self-moving device 1 according to the preset type of movement. The type of movement here may be one or a combination of several of the following, but is not limited to the following forms of movement, for example: when the obstacle 2 collides, the obstacle 2 is far away from the obstacle 2 in the opposite direction, the obstacle 2 can be bypassed around in a broken line movement mode, meanwhile, the obstacle 2 can be bypassed gradually in an arc bypassing mode, namely, in an arc transition mode, and the arc radius can be gradually increased to facilitate the bypassing of the obstacle 2.
And a fourth trapped pre-processing operation:
if the self-mobile device 1 cannot successfully move backward, which means that the self-mobile device 1 is already trapped, for example, a motion scene that may be encountered is that the self-mobile device 1 is blocked by the wedging tip 3, as shown in fig. 2, a fourth trapped-free preprocessing operation needs to be performed, where the fourth trapped-free preprocessing operation may include:
changing the direction of motion from the mobile device 1; controlling the mobile equipment 1 to retreat; increasing the reverse rotation speed of a driving motor of the mobile equipment 1; recording the current position of the mobile device 1; at this time, whether the self-moving equipment 1 can successfully retreat is judged, if the automatic equipment 1 still cannot successfully retreat, the self-moving equipment 1 is controlled to send out an alarm prompt; marking the current position of the mobile equipment 1 as a trap, perfecting the trap on a map constructed from the mobile equipment 1, and controlling the mobile equipment 1 not to pass through the trap position in subsequent work. For the alarm information, the alarm information can be sent by driving a buzzer on the mobile device 1 to sound to inform the user, or by sending a sound from a voice module arranged on the mobile device 1 to inform the user, or by connecting the mobile device 1 to a user terminal to send help-seeking information to inform the user.
By the aid of the self-mobile equipment escaping method, when the self-mobile equipment is trapped in the motion space after encountering the self-mobile equipment, the self-mobile equipment can escape in time, trapped information is standardized to the function of perfecting the map on the map, user experience of products is improved, meanwhile, the information can be actively informed to a user under the condition that the self-mobile equipment cannot escape from the trap, and electric energy consumption caused by the fact that the self-mobile equipment is always in a trapped state is avoided. Particularly, the self-moving equipment escaping method is applied to the cleaning robot, so that the cleaning robot can avoid a trapped area in time, the cleaning robot is prevented from being clamped and incapable of working normally, and the working efficiency of the cleaning robot is improved.
Example 2:
as shown in fig. 5, another embodiment of the present invention discloses a self-moving device, which includes a traveling mechanism, the traveling mechanism drives the self-moving device to travel on a working surface to assist in implementing the relevant functions of the self-moving device, the traveling mechanism may be a driving wheel assembly, a track wheel assembly, or another type of assembly that can implement movement of the self-moving device, the self-moving device of this embodiment further includes a controller 4, a memory 5, an actuator 6, and a communication module 7, all of which are connected through a bus, wherein:
the controller 4 is an electronic computing core built in the main body of the self-moving device, and is used for executing logical operation steps to realize intelligent control of the self-moving device. In this embodiment, the controller 4 is connected to the actuator 5, and is configured to execute a preset algorithm to map according to the instruction output by the controller, and accordingly control the self-moving device traveling mechanism, so that the robot performs corresponding motions according to the instruction.
The controller 4, the memory 5, the actuator 6 and the communication module 7 are connected in a bus mode to establish communication connection between any two devices, the controller 4 is used for generating control instructions, the memory 5 is used for storing the control instructions and transmitting the control instructions to the actuator 6 through the communication module 7 to execute corresponding instructions, in addition, the actuator 6 executes corresponding control instructions to generate corresponding electric signals, and the walking mechanism is further controlled to move through the generated electric signals, so that the walking function of the self-moving equipment is realized.
The executor 6 may be any type of single-threaded or multi-threaded processor. The executor 6 may have one or more processing cores for acquiring data, performing logical operation functions, issuing operation processing results, and the like.
The memory 5 is a non-volatile computer-readable storage medium, such as at least one magnetic disk storage device, flash memory device, distributed storage device remotely located from the actuator 6, or other non-volatile solid state storage device, or the like. Which has a program storage area for storing non-volatile software programs, non-volatile computer-executable programs, and modules.
These computer-executable programs and functional modules may be called by the actuator 6 to cause the actuator 6 to perform one or more method steps. The memory 5 may also have a data storage area for storing the arithmetic processing result issued by the executor 6.
The communication module 7 is a hardware module for establishing communication connection between the controller 4 and an external function module. The communication module 7 may select a corresponding type of wireless or wired communication module, such as a WiFi module, a bluetooth module, or an input/output interface, according to actual needs.
Based on the communication module 7, the controller 4 can collect user instructions and present the corresponding interactive interface to the user. For example, the controller 4 may establish a connection with an intelligent mobile terminal of a user through the WiFi module, and collect a user instruction or show a current working state of the self-moving device, such as a sweeping robot, to the user in an APP or web page side manner.
In the self-moving device in this embodiment, the controller 4 generates various control instructions, and the actuator 6 loads the control instructions and executes related instructions to drive the traveling mechanism of the self-moving device to move, where the related instructions include the following:
driving the self-moving equipment to move forwards;
judging whether the self-moving equipment can continue to move forwards or not;
if the self-moving equipment cannot move forwards continuously, controlling the self-moving equipment to execute a first escaping preprocessing operation;
if the self-moving equipment cannot move forwards continuously after executing the first trapping removal preprocessing operation, controlling the self-moving equipment to execute a second trapping removal preprocessing operation;
driving the mobile equipment to retreat;
judging whether the self-moving equipment can successfully retreat or not;
if the self-moving equipment can successfully retreat, controlling the self-moving equipment to execute a third trapped-free preprocessing operation;
and if the self-mobile equipment cannot successfully back, controlling the self-mobile equipment to execute a fourth trapped-free preprocessing operation.
Wherein the first de-trapping preprocessing operation comprises: increasing a speed of motion of the self-moving device; the drive continues to move forward from the mobile device. The second trapped pre-processing operation comprises: marking the current position of the self-moving equipment; and controlling the self-moving equipment to execute a fifth escaping preprocessing operation according to the marked current position of the self-moving equipment. The fifth escaping preprocessing operation comprises the following steps: marking the current location of the mobile device as "kan"; marking the 'bank' information in a motion map of the mobile device; and controlling the self-moving equipment to not pass through the marked position in subsequent work. The third delinquent preprocessing operation comprises: recording the current position of the mobile equipment; driving the mobile equipment to retreat; and controlling the self-moving equipment to bypass the recorded current position of the self-moving equipment according to the preset motion type. The fourth trapped pre-processing operation includes: controlling the self-moving device to execute an alarm escaping action, wherein the alarm escaping action comprises: increasing the reverse rotation speed of the drive wheel of the self-moving device; continuously judging whether the mobile equipment can successfully retreat or not; and if the self-moving equipment still cannot successfully retreat, controlling the self-moving equipment to send alarm information.
Through the self-mobile equipment of the embodiment, when the self-mobile equipment is trapped in a motion space after encountering the self-mobile equipment, the self-mobile equipment can timely get rid of the trapping, and the trapped information is standardized to the function of perfecting a map on the map, so that the user experience of a product is increased, and meanwhile, the self-mobile equipment can actively inform a user of the information under the condition that the self-mobile equipment cannot be trapped by self, so that the situation that the self-mobile equipment is always in a trapped state and consumes electric energy is avoided. Particularly, the cleaning robot can avoid the trapped area in time on the cleaning robot, the phenomenon that the cleaning robot cannot work normally due to being clamped is avoided, and the working efficiency of the cleaning robot is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (7)
1. A method of escaping from a mobile device, the method comprising:
driving the self-moving equipment to move forwards;
judging whether the self-moving equipment can continue to move forwards or not;
if the self-moving equipment cannot move forwards continuously, controlling the self-moving equipment to execute a first trapping-eliminating preprocessing operation, wherein the first trapping-eliminating preprocessing operation comprises the following steps: when the self-moving equipment enters a narrow space, marking the position of an entrance of the narrow space, and adjusting the position of the front end of the self-moving equipment and the position of the entrance to form a straight line when the self-moving equipment returns, so that the self-moving equipment can move in and out along the straight line;
if the self-moving equipment cannot move forwards continuously after executing the first trapped removal preprocessing operation, controlling the self-moving equipment to execute a second trapped removal preprocessing operation, wherein the second trapped removal preprocessing operation comprises marking the current position of the self-moving equipment, and controlling the self-moving equipment to execute a fifth trapped removal preprocessing operation according to the marked current position of the self-moving equipment;
driving the self-moving equipment to retreat;
judging whether the self-moving equipment can successfully retreat or not;
if the self-moving device can successfully retreat, controlling the self-moving device to execute a third trapped-free preprocessing operation, wherein the third trapped-free preprocessing operation comprises the following steps: recording the current position of the self-moving equipment, controlling the self-moving equipment to retreat, and controlling the self-moving equipment to bypass the recorded current position of the self-moving equipment according to a preset motion type;
if the self-mobile device cannot successfully back, controlling the self-mobile device to execute a fourth trapped-free preprocessing operation, wherein the fourth trapped-free preprocessing operation comprises: and controlling the self-moving equipment to perform alarming and escaping actions.
2. The self-mobile equipment escaping method of claim 1, wherein the fifth escaping preprocessing operation comprises:
marking the current position of the self-mobile equipment as 'bank';
marking the 'bank' information in a motion map of the self-mobile equipment;
and controlling the self-moving equipment to not pass through the marked position in subsequent work.
3. The self-moving device escaping method of claim 1, wherein the type of motion comprises:
circular arc motion and broken line motion.
4. The self-mobile equipment escaping trap method according to claim 1, wherein the controlling the self-mobile equipment to execute an alarm escaping trap action comprises:
increasing the reverse rotation speed of the drive wheel of the self-moving device;
continuously judging whether the mobile equipment can successfully retreat or not;
and if the self-moving equipment still cannot successfully retreat, controlling the self-moving equipment to send alarm information.
5. The self-mobile equipment sleepiness relieving method according to claim 4, wherein the alarm information sending is to inform the user by driving a buzzer of the self-mobile equipment to sound or send information to a mobile phone terminal to inform the user by the self-mobile equipment.
6. The method of any of claims 1-5, wherein the self-moving device is one of a cleaning robot, a service robot, a business robot, and a carrier robot.
7. A self-moving apparatus comprising a travelling mechanism adapted to drive the self-moving apparatus over a work surface;
a controller adapted to generate various control instructions; and the actuator is suitable for processing a plurality of control instructions, and the control instructions are suitable for being loaded by the actuator and executing:
driving the self-moving equipment to move forwards;
judging whether the self-moving equipment can continue to move forwards or not;
if the self-moving equipment cannot move forwards continuously, controlling the self-moving equipment to execute a first trapping-eliminating preprocessing operation, wherein the first trapping-eliminating preprocessing operation comprises the following steps: when the self-moving equipment enters a narrow space, marking the position of an entrance of the narrow space, and adjusting the position of the front end of the self-moving equipment and the position of the entrance to form a straight line when the self-moving equipment returns, so that the self-moving equipment can move in and out along the straight line;
if the self-moving equipment cannot move forwards continuously after executing the first trapped removal preprocessing operation, controlling the self-moving equipment to execute a second trapped removal preprocessing operation, wherein the second trapped removal preprocessing operation comprises marking the current position of the self-moving equipment, and controlling the self-moving equipment to execute a fifth trapped removal preprocessing operation according to the marked current position of the self-moving equipment;
driving the self-moving equipment to retreat;
judging whether the self-moving equipment can successfully retreat or not;
if the self-moving device can successfully retreat, controlling the self-moving device to execute a third trapped-free preprocessing operation, wherein the third trapped-free preprocessing operation comprises the following steps: recording the current position of the self-moving equipment, controlling the self-moving equipment to retreat, and controlling the self-moving equipment to bypass the recorded current position of the self-moving equipment according to a preset motion type;
if the self-mobile device cannot successfully back, controlling the self-mobile device to execute a fourth trapped-free preprocessing operation, wherein the fourth trapped-free preprocessing operation comprises: and controlling the self-moving equipment to perform alarming and escaping actions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910539370.5A CN110192814B (en) | 2019-06-20 | 2019-06-20 | Self-mobile equipment escaping method and self-mobile equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910539370.5A CN110192814B (en) | 2019-06-20 | 2019-06-20 | Self-mobile equipment escaping method and self-mobile equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110192814A CN110192814A (en) | 2019-09-03 |
| CN110192814B true CN110192814B (en) | 2021-07-02 |
Family
ID=67754857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910539370.5A Active CN110192814B (en) | 2019-06-20 | 2019-06-20 | Self-mobile equipment escaping method and self-mobile equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110192814B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488846A (en) * | 2019-09-19 | 2019-11-22 | 广州文远知行科技有限公司 | Unmanned remote assistance method, device, equipment and storage medium |
| CN110974088B (en) * | 2019-11-29 | 2021-09-24 | 深圳市杉川机器人有限公司 | Sweeping robot control method, sweeping robot and storage medium |
| CN111061215B (en) * | 2019-12-26 | 2021-01-22 | 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 |
| CN114587208B (en) * | 2021-07-26 | 2023-09-12 | 北京石头创新科技有限公司 | Control method of cleaning robot |
| CN113768420B (en) * | 2021-09-18 | 2023-04-14 | 安克创新科技股份有限公司 | Sweeper and control method and device thereof |
| CN113878575B (en) * | 2021-09-28 | 2023-03-14 | 深圳中智永浩机器人有限公司 | Method and device for processing bucket passing of wheel type chassis, computer equipment and storage medium |
| CN116700237A (en) * | 2022-02-25 | 2023-09-05 | 追觅创新科技(苏州)有限公司 | Control method and device of self-mobile device and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3323772B2 (en) * | 1997-02-13 | 2002-09-09 | 本田技研工業株式会社 | Autonomous mobile robot with deadlock prevention device |
| CN201719182U (en) * | 2009-12-31 | 2011-01-26 | 燕成祥 | Trouble coming-out system of automated cleaning robot |
| CN103356131B (en) * | 2013-07-24 | 2016-01-13 | 莱克电气股份有限公司 | For the processing method of getting rid of poverty of robot cleaner |
| US9601019B2 (en) * | 2013-07-29 | 2017-03-21 | Samsung Electronics Co., Ltd. | Cleaning robot and method for controlling the same |
| CN107019472A (en) * | 2017-06-09 | 2017-08-08 | 小狗电器互联网科技（北京）股份有限公司 | A kind of sweeping robot and its method got rid of poverty by the position that is stuck |
| CN107092260A (en) * | 2017-06-09 | 2017-08-25 | 北京小米移动软件有限公司 | The method of mobile robot and the mobile robot across obstacle |
| CN109394086A (en) * | 2018-11-19 | 2019-03-01 | 珠海市微半导体有限公司 | A kind of walk on method, apparatus and chip based on trapped clean robot |
| CN109512342A (en) * | 2018-12-25 | 2019-03-26 | 深圳市云鼠科技开发有限公司 | A kind of sweeping robot and attitude detection based on gyroscope and method of getting rid of poverty |
| CN109875470A (en) * | 2019-01-31 | 2019-06-14 | 科沃斯机器人股份有限公司 | It gets rid of poverty method, equipment and storage medium |
-
2019
- 2019-06-20 CN CN201910539370.5A patent/CN110192814B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3323772B2 (en) * | 1997-02-13 | 2002-09-09 | 本田技研工業株式会社 | Autonomous mobile robot with deadlock prevention device |
| CN201719182U (en) * | 2009-12-31 | 2011-01-26 | 燕成祥 | Trouble coming-out system of automated cleaning robot |
| CN103356131B (en) * | 2013-07-24 | 2016-01-13 | 莱克电气股份有限公司 | For the processing method of getting rid of poverty of robot cleaner |
| US9601019B2 (en) * | 2013-07-29 | 2017-03-21 | Samsung Electronics Co., Ltd. | Cleaning robot and method for controlling the same |
| CN107019472A (en) * | 2017-06-09 | 2017-08-08 | 小狗电器互联网科技（北京）股份有限公司 | A kind of sweeping robot and its method got rid of poverty by the position that is stuck |
| CN107092260A (en) * | 2017-06-09 | 2017-08-25 | 北京小米移动软件有限公司 | The method of mobile robot and the mobile robot across obstacle |
| CN109394086A (en) * | 2018-11-19 | 2019-03-01 | 珠海市微半导体有限公司 | A kind of walk on method, apparatus and chip based on trapped clean robot |
| CN109512342A (en) * | 2018-12-25 | 2019-03-26 | 深圳市云鼠科技开发有限公司 | A kind of sweeping robot and attitude detection based on gyroscope and method of getting rid of poverty |
| CN109875470A (en) * | 2019-01-31 | 2019-06-14 | 科沃斯机器人股份有限公司 | It gets rid of poverty method, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110192814A (en) | 2019-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110192814B (en) | Self-mobile equipment escaping method and self-mobile equipment | |
| EP3460614B1 (en) | Combined robot and cruising path generation method therefor | |
| CN107224249B (en) | Cleaning operation execution method and device of cleaning equipment and readable storage medium | |
| EP4137905A1 (en) | Robot obstacle avoidance method, device, and storage medium | |
| CN108628319B (en) | Intelligent obstacle avoidance system of sweeping robot | |
| CN110507246B (en) | Obstacle avoidance recharging method and cleaning equipment obstacle avoidance recharging system with laser radar | |
| EP2617531A1 (en) | Intelligent robot system and docking method for charging same | |
| CN108852174B (en) | Autonomous mobile robot and pile searching method, control device and intelligent cleaning system thereof | |
| CN108873879B (en) | Autonomous mobile robot and pile searching method, control device and intelligent cleaning system thereof | |
| CN111650933B (en) | Method, device, terminal and readable storage medium for controlling robot to get rid of poverty | |
| CN110495817B (en) | Recharging and docking method and system for cleaning equipment with laser radar | |
| CN111941419B (en) | Control method of self-moving robot and self-moving robot system | |
| US11650593B2 (en) | Moving method for self-moving device and self-moving device | |
| CN111374605A (en) | Gemini sweeping robot and sweeping method thereof | |
| WO2023020490A1 (en) | Cleaning robot, control method and apparatus therefor, and electronic device and storage medium | |
| WO2023130704A1 (en) | Robot mapping method and device, robot, and storage medium | |
| CN110604515B (en) | Multi-machine cooperation system and cleaning equipment | |
| CN113341978A (en) | Intelligent trolley path planning method based on ladder-shaped barrier | |
| WO2022218177A1 (en) | Obstacle avoidance method and apparatus for robot, robot, storage medium, and electronic device | |
| CN112022026A (en) | Self-propelled robot and obstacle detection method | |
| CN114545914B (en) | Self-moving robot charging system and self-moving robot charging method | |
| CN213216762U (en) | Self-walking robot | |
| CN113625700B (en) | Self-walking robot control method, device, self-walking robot and storage medium | |
| CN111714033B (en) | Robot control method, robot and storage medium | |
| CN212346424U (en) | Sweeper with three-dimensional recognition function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Patentee after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 Building A1, Yinxing Hi-tech Industrial Park, Guanlan Street Sightseeing Road, Longhua District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |