CN110353573A - The method of getting rid of poverty of sweeping robot, calculates equipment and storage medium at sweeping robot - Google Patents
The method of getting rid of poverty of sweeping robot, calculates equipment and storage medium at sweeping robot Download PDFInfo
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- CN110353573A CN110353573A CN201910485955.3A CN201910485955A CN110353573A CN 110353573 A CN110353573 A CN 110353573A CN 201910485955 A CN201910485955 A CN 201910485955A CN 110353573 A CN110353573 A CN 110353573A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000003860 storage Methods 0.000 title claims abstract description 9
- 238000006073 displacement reaction Methods 0.000 claims abstract description 16
- 230000002159 abnormal effect Effects 0.000 claims description 39
- 238000004590 computer program Methods 0.000 claims description 19
- 230000004888 barrier function Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 230000007613 environmental effect Effects 0.000 abstract 3
- 230000008569 process Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
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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
- A47L11/40—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
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention is suitable for field of computer technology, proposes a kind of method of getting rid of poverty of sweeping robot, sweeping robot, calculates equipment and storage medium.The described method includes: if the displacement in preset duration without any trigger signal and in the preset duration is zero, it is determined that position coordinates of the current time in environmental map；Centered on the position coordinates, virtual obstacles are generated in the preset range in the environmental map, obtain virtual environment map；According to the virtual environment map, target travel path is cooked up.It is by generating virtual obstacles in the preset range in environmental map, virtual environment map is obtained, and according to virtual environment map, cooks up target travel path, it gets rid of poverty to realize that sweeping robot is automatically performed, improves the working efficiency of sweeping robot and the experience effect of user.
Description
Technical Field
The invention belongs to the technical field of computers, and particularly relates to a trap-removing method of a sweeping robot, the sweeping robot, a computing device and a storage medium.
Background
Along with the improvement of living standard of people, the floor sweeping robot begins to be gradually popularized in the life of people. The sweeping robot, also known as an automatic sweeper, an intelligent dust collector, a robot dust collector and the like, is one of intelligent household appliances, and can detect obstacles in an area to be swept by means of a sensor, and get rid of difficulties according to preset difficulty-getting-out rules to automatically complete sweeping work. However, the existing sweeping robot can only detect obstacles with the size similar to that of the robot, and for the obstacles far smaller than the robot or gaps close to the size of the robot, the sweeping robot cannot detect the obstacles, the phenomenon that the sweeping robot is clamped or slips in place easily occurs, the robot needs to get rid of difficulties by means of manual intervention, the working efficiency is low, and the experience effect of a user is seriously influenced.
Disclosure of Invention
In view of this, embodiments of the present invention provide a difficulty-escaping method for a floor-sweeping robot, a computing device, and a storage medium, so as to solve the problem that in the prior art, when a floor-sweeping robot encounters an unidentifiable obstacle and runs a fault, the robot needs to escape with manual intervention, thereby improving the working efficiency of the floor-sweeping robot and the experience effect of a user.
A first aspect of an embodiment of the present invention provides a method for getting rid of a floor sweeping robot, including:
if no trigger signal exists in the preset time length and the displacement in the preset time length is zero, determining the position coordinate of the current moment in the environment map, wherein the trigger signal is used for indicating a running path;
generating a virtual barrier in a preset range in the environment map by taking the position coordinate as a center to obtain a virtual environment map;
and planning a target driving path according to the virtual environment map.
Optionally, before generating a virtual obstacle within a preset range in the environment map with the position coordinate as a center and obtaining a virtual environment map, the method includes:
acquiring motion data within the preset time length;
determining a current abnormal state based on the motion data and a preset threshold value;
and determining the size of a preset range in the environment map based on the abnormal state.
Optionally, the motion data includes a linear velocity and an angular velocity, and the acquiring the motion data within the preset time duration includes:
and acquiring linear speed and angular speed at least two moments within the preset time length.
Optionally, the determining a current abnormal state based on the motion data and a preset threshold includes:
determining a current linear speed of advancement based on the linear speeds at the at least two moments;
determining the current course angular variation speed based on the angular speeds at the at least two moments;
determining a current motion radius based on the forward linear velocity and the heading angular variation velocity;
and determining the current abnormal state according to the current movement radius and a preset threshold value.
Optionally, the determining the current abnormal state according to the current movement radius and a preset threshold includes:
if the current movement radius is smaller than or equal to the preset threshold value, judging that the current abnormal state is clamping;
and if the current motion radius is larger than the preset threshold value, judging that the current abnormal state is slipping. A second aspect of an embodiment of the present invention provides a sweeping robot, including:
the first determining module is used for determining the position coordinate of the sweeping robot in the environment map at the current moment if no trigger signal exists within the preset time length and the displacement within the preset time length is zero, wherein the trigger signal is used for indicating a running path;
the obtaining module is used for generating a virtual barrier in a preset range in the environment map by taking the position coordinate as a center to obtain a virtual environment map;
and the control module is used for planning a target driving path according to the virtual environment map.
Optionally, the method further comprises:
the acquisition module is used for acquiring motion data within a preset time length;
the second determination module is used for determining the current abnormal state based on the motion data and a preset threshold value;
and the third determining module is used for determining the size of a preset range in the environment map based on the current abnormal state.
Optionally, the motion data includes a linear velocity and an angular velocity, and the acquiring module is configured to acquire the linear velocity and the angular velocity of the sweeping robot at least two time points within the preset time duration. A third aspect of the embodiments of the present invention provides a computing device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the method for relieving the floor sweeping robot as described in any one of the above embodiments.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for overcoming difficulty in a cleaning robot as described in any one of the above embodiments is implemented.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
if no trigger signal exists within the preset time and the displacement within the preset time is zero, the robot is judged to be trapped, a virtual obstacle is generated within a preset range in the environment map based on the position coordinate in the environment map at the current moment, the virtual environment map is obtained, a target driving path is planned according to the virtual environment map, the purpose that the robot for sweeping the floor automatically finishes trapping is achieved, and the working efficiency of the robot for sweeping the floor and the experience effect of a user are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions 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 it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flow chart of implementing the method for removing the floor sweeping robot according to the first embodiment of the present invention;
fig. 2 is a flow chart of implementing the method for removing the floor sweeping robot according to the second embodiment of the present invention;
FIG. 3 is a flowchart of an embodiment of S203 in FIG. 2;
FIG. 4 is a flowchart illustrating an embodiment of S2034 in FIG. 3;
fig. 5 is a schematic view of a sweeping robot according to a third embodiment of the present invention;
fig. 6 is a schematic view of a sweeping robot according to a fourth embodiment of the present invention;
FIG. 7 is a schematic diagram of a computing device provided by the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples. As shown in fig. 1, it is a flow of implementing the method for getting rid of the trouble of the sweeping robot according to the first embodiment of the present invention, and the execution main body of the embodiment is the sweeping robot. The details are as follows:
s101, if no trigger signal exists in a preset time length and the displacement in the preset time length is zero, determining the position coordinate of the current moment in the environment map, wherein the trigger signal is used for indicating a driving path.
Generally, in order to avoid the damage of the sweeping robot in the process of performing the sweeping task, a plurality of functional sensors are installed in the sweeping robot, such as: the robot sweeping robot comprises a limit sensor, a vision sensor, a laser sensor, a falling prevention sensor, an infrared sensor, a touch edge sensor and the like, so that the robot sweeping robot can avoid various obstacles in the process of executing tasks and successfully complete the tasks.
Various functional sensors installed in the current sweeping robot can only identify obstacles with the size equal to or larger than the size of the robot, the obstacle with the size far smaller than the size of the obstacle or the gap with the size close to the size of the obstacle cannot be quickly and accurately identified, for example, when small objects such as pencils and the like exist on the ground, because the robot cannot be quickly and accurately identified, no trigger signal is sent, specifically, the trigger signal is used for indicating a driving path, so that the sweeping robot considers that the robot is in a safe state, and the phenomenon that the sweeping robot slips on site is easily caused, or when a gap close to the size of the sweeping robot exists in the environment, such as the gap between the bottom of the sofa and the ground is very close to the height of the sweeping robot or when the sweeping robot moves to a corner with a radian close to the diameter of the sweeping robot, the phenomenon that the sweeping robot is blocked is easily caused.
Once the sweeping robot slips or is stuck, the displacement of the sweeping robot is zero. Therefore, in the present solution, if there is no trigger information within a preset time period and the displacement within the preset time period is zero, it is determined that the robot is trapped, and an abnormal state of the robot needs to be further determined, where the abnormal state includes slipping or jamming, specifically, a position coordinate in the environment map at the current time is determined first.
And S102, generating a virtual obstacle in a preset range in the environment map by taking the position coordinate as a center to obtain a virtual environment map.
Specifically, according to the fact that no trigger signal exists within the preset time and the displacement within the preset time is zero, only the occurrence of an abnormality can be determined, but the information of the obstacle cannot be determined specifically.
And S103, planning a target driving path according to the virtual environment map.
Specifically, a target driving path is planned according to the virtual environment map, position information of a virtual obstacle in the virtual environment map needs to be acquired through a position sensor, and the position information is the regional coordinate information of the preset range in the environment map, wherein the coordinate center of the virtual obstacle is coincided with the position coordinate of the sweeping robot in the environment map at the current moment through the previous analysis; and planning a target driving path according to the position information of the virtual barrier in the environment map. Optionally, the target travel path is: controlling the sweeping robot to retreat by a distance larger than the radius of the preset range by taking the position coordinate of the current moment in the environment map as a starting point; and controlling the sweeping robot to run along the edge path of the preset range.
As can be seen from the above, the method for getting rid of the trouble of the sweeping robot provided by the present invention includes determining the position coordinate in the environment map at the present moment if there is no trigger signal within the preset time and the displacement within the preset time is zero; generating a virtual barrier in a preset range in the environment map by taking the position coordinate as a center to obtain a virtual environment map; and planning a target driving path according to the virtual environment map. The virtual obstacle is generated within the preset range in the environment map, the virtual environment map is obtained, the target driving path is planned according to the virtual environment map, the sweeping robot can automatically finish getting rid of difficulties, and the working efficiency of the sweeping robot and the experience effect of a user are improved.
Further, as shown in fig. 2, it is an implementation flow of the method for getting rid of the trouble of the sweeping robot provided by the second embodiment of the present invention. As can be seen from fig. 2, in this embodiment, compared with the embodiment shown in fig. 1, the specific implementation processes of S201 and S101 are the same, the specific implementation processes of S205 and S102 are the same, and the specific implementation processes of S206 and S103 are the same, and are not described in detail here, which is different in that S202-S204 are included between S201 and S205, which are specifically as follows:
and S202, acquiring the motion data within the preset time length.
As can be seen from the foregoing embodiment, when there is no trigger signal within a preset time period and the displacement within the preset time period is zero, it may be determined that the sweeping robot enters the escaping state, but a specific escaping path needs to be further determined.
Specifically, the motion data includes a linear velocity and an angular velocity, and the S202 includes:
and acquiring linear speed and angular speed at least two moments within the preset time length.
It can be understood that, the current abnormal state can be accurately determined by comparing and analyzing the motion data at different times within the preset time duration, and therefore, in this embodiment, the linear velocity and the angular velocity at least two times within the preset time duration need to be obtained, where the at least two times may be adjacent times or non-adjacent times, and are not limited specifically herein.
S203, determining the current abnormal state based on the motion data and a preset threshold value.
Specifically, when the sweeping robot enters an abnormal state, the robot may slip or get stuck, and further determination is specifically required. In this example, the current abnormal state is determined by determining a current radius of motion based on the motion data and comparing the magnitude of the radius of motion to a preset threshold.
Referring to fig. 3, fig. 3 is a flowchart illustrating an embodiment of S203 in fig. 2. When the motion data includes linear and angular velocities, S203 may include S2031 to S2034:
s2031, determining the current linear velocity of forward motion based on the linear velocities at the at least two times.
Specifically, the linear speed of advance is the edge linear speed of the swiveling wheel of the sweeping robot, and if the sweeping robot has a left swiveling wheel and a right swiveling wheel, the linear speed of advance is the average linear speed of the edge linear speeds of the left swiveling wheel and the right swiveling wheel. The edge line speed is the line speed in this example.
In this embodiment, determining the current linear speed of the forward line based on the linear speeds at the at least two moments specifically includes: and calculating the average value of the linear speeds at the at least two moments, wherein the average value of the linear speeds at the at least two moments is the current advancing linear speed.
S2032, determining the current course angular change speed based on the angular speeds at the at least two moments.
It can be understood that, within the preset time length, the sweeping robot rotates by a certain angle around the center of the motion track, and the course angle changes by a certain angle, so that the angular speed of the sweeping robot moving around the center of the motion track is the speed of the change of the course angle.
In this embodiment, determining the current heading angular variation speed based on the angular velocities at the at least two moments specifically includes: and calculating the average value of the angular speeds at the at least two moments, wherein the average value of the angular speeds at the at least two moments is the current course angular variation speed.
S2033, determining the current motion radius based on the forward linear velocity and the course angle change velocity.
In this embodiment, assuming that the motion radius is r, the linear velocity of the forward motion is v, and the heading angular variation velocity is w, then
S2034, determining the current abnormal state according to the current movement radius and a preset threshold value.
Generally, when the speed of the course angular change approaches zero and the motion radius is infinite, the course angular change is in a straight abnormal state, if the straight motion occurs, the displacement is detected, and the analysis is performed in the state where the displacement is zero, so that the state where the motion radius is infinite does not exist. Specifically, the current abnormal state is determined by a relationship between a preset threshold and a motion radius, where the preset threshold is an interim value between stuck (left-right rocking or stopping motion) and slipping (rotating around a slipping object), specifically, as shown in fig. 4, the specific implementation flow of S2034 in fig. 3 is shown in fig. 4, and S2034 includes S401 to S402, specifically, the following steps are included:
s401, if the current motion radius is smaller than or equal to the preset threshold value, determining that the current abnormal state is jamming.
The blocked state comprises left-right swinging or stop motion, if the blocked state is in the left-right swinging state, the corresponding forward linear velocity is smaller, the corresponding course angular velocity is larger, the relation among the motion radius, the forward linear velocity and the course angular velocity can determine that the current motion radius is smaller during the left-right swinging; and if the motor is in the abnormal stop state, the current movement radius is zero.
S402, if the current motion radius is larger than the preset threshold value, determining that the current abnormal state is slipping.
The slipping state is that the sliding object rotates in situ, under the abnormal state, the corresponding advancing linear velocity is larger, the corresponding course angular velocity is smaller, and the relationship between the motion radius and the advancing linear velocity and the course angular velocity can determine that the current motion radius is larger when the sliding object slips.
S204, determining the size of a preset range in the environment map based on the abnormal state.
Specifically, the abnormal state includes being stuck or slipping, the phenomenon of being stuck generally includes that a gap with a size close to that of the sweeping robot or a corner with a radian close to the diameter of the sweeping robot exists, and if the abnormal state is sticking, the size of the preset range is determined to be larger than that of the robot; further, the slippage is usually caused by a small object such as a pencil or an eraser on the ground, and if the abnormal state is slippage, the size of the preset range is determined to be smaller than the size of the robot itself.
As can be seen from the above, in the method for getting rid of the trouble of the sweeping robot provided in this embodiment, based on the embodiment shown in fig. 1, the abnormal state is determined by obtaining the motion data at least two times within the preset time period, and the size of the preset range is determined according to the abnormal state, so as to limit the size of the virtual obstacle, so that the planned target driving path is more accurate based on the virtual environment map. The probability of the floor sweeping robot for automatically completing the escaping is improved, and the working efficiency of the floor sweeping robot and the experience effect of a user are improved.
Fig. 5 is a schematic view of a sweeping robot according to a third embodiment of the present invention. As shown in fig. 5, the sweeping robot 5 of this embodiment includes: a determination module 510, an obtaining module 520, and a control module 530. Wherein,
the first determining module 510 is configured to determine a position coordinate of the sweeping robot in the environment map at the current moment if there is no trigger signal within a preset time period and the displacement within the preset time period is zero, where the trigger signal is used to indicate a driving path.
An obtaining module 520, configured to generate a virtual obstacle within a preset range in the environment map by using the position coordinate as a center, so as to obtain a virtual environment map.
And the control module 530 is configured to plan a target driving path according to the virtual environment map.
Fig. 6 is a schematic view of a sweeping robot according to a fourth embodiment of the present invention. Compared with the sweeping robot 5 provided in the embodiment of fig. 5, the sweeping robot 6 provided in this embodiment further includes an obtaining module 620, a first determining module 630, and a second determining module 640. Wherein,
the obtaining module 620 is configured to obtain motion data within a preset time duration.
A second determining module 630, configured to determine a current abnormal state based on the motion data and a preset threshold.
A third determining module 640, configured to determine, based on the current abnormal state, a size of a preset range in the environment map.
Specifically, the motion data includes linear and angular velocities;
the obtaining module 620 is specifically configured to obtain linear velocities and angular velocities of the sweeping robot at least two time points within the preset time duration.
FIG. 7 is a schematic diagram of a computing device provided by the present invention. As shown in fig. 7, the computing device 7 of this embodiment includes: a processor 70, a memory 71 and a computer program 72 stored in said memory 71 and executable on said processor 70, such as a trap-free program of a sweeping robot. The processor 70, when executing the computer program 72, implements the steps of the above-mentioned various embodiments of the cleaning robot escaping method, such as the steps 101 to 103 shown in fig. 1. Alternatively, the processor 70, when executing the computer program 72, implements the functions of the modules/units in the above-mentioned sweeping robot embodiment, such as the functions of the modules 510 to 530 shown in fig. 5.
Illustratively, the computer program 72 may be partitioned into one or more modules/units that are stored in the memory 71 and executed by the processor 70 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 72 in the vehicle radar 7. For example, the computer program 72 may be divided into a determination module, an acquisition module, and a control module (module in a virtual device), and the specific functions of each module are as follows:
the determining module is used for determining the position coordinate of the sweeping robot in the environment map at the current moment if no trigger signal exists within the preset time length and the displacement within the preset time length is zero, wherein the trigger signal is used for indicating a running path;
the obtaining module is used for generating a virtual barrier in a preset range in the environment map by taking the position coordinate as a center to obtain a virtual environment map;
and the control module is used for planning a target driving path according to the virtual environment map.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of communication units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A method for getting rid of poverty of a sweeping robot is characterized by comprising the following steps:
if no trigger signal exists in the preset time length and the displacement in the preset time length is zero, determining the position coordinate of the current moment in the environment map, wherein the trigger signal is used for indicating a running path;
generating a virtual barrier in a preset range in the environment map by taking the position coordinate as a center to obtain a virtual environment map;
and planning a target driving path according to the virtual environment map.
2. The escaping method of the sweeping robot of claim 1, wherein before generating the virtual obstacle within the preset range in the environment map by taking the position coordinate as a center and obtaining the virtual environment map, the escaping method comprises the following steps:
acquiring motion data within the preset time length;
determining a current abnormal state based on the motion data and a preset threshold value;
and determining the size of a preset range in the environment map based on the abnormal state.
3. The escaping method of the sweeping robot of claim 2, wherein the motion data comprises linear velocity and angular velocity, and the acquiring the motion data within the preset time period comprises:
and acquiring linear speed and angular speed at least two moments within the preset time length.
4. The escaping method of the sweeping robot of claim 3, wherein the determining the current abnormal state based on the motion data and the preset threshold value comprises:
determining a current linear speed of advancement based on the linear speeds at the at least two moments;
determining the current course angular variation speed based on the angular speeds at the at least two moments;
determining a current motion radius based on the forward linear velocity and the heading angular variation velocity;
and determining the current abnormal state according to the current movement radius and a preset threshold value.
5. The escaping method of the sweeping robot of claim 4, wherein the determining the current abnormal state according to the current movement radius and a preset threshold value comprises:
if the current movement radius is smaller than or equal to the preset threshold value, judging that the current abnormal state is clamping;
and if the current motion radius is larger than the preset threshold value, judging that the current abnormal state is slipping.
6. A sweeping robot is characterized by comprising:
the first determining module is used for determining the position coordinate of the sweeping robot in the environment map at the current moment if no trigger signal exists within the preset time length and the displacement within the preset time length is zero, wherein the trigger signal is used for indicating a running path;
the obtaining module is used for generating a virtual barrier in a preset range in the environment map by taking the position coordinate as a center to obtain a virtual environment map;
and the control module is used for planning a target driving path according to the virtual environment map.
7. The sweeping robot of claim 6, further comprising:
the acquisition module is used for acquiring motion data within a preset time length;
the second determination module is used for determining the current abnormal state based on the motion data and a preset threshold value;
and the third determining module is used for determining the size of a preset range in the environment map based on the current abnormal state.
8. The sweeping robot of claim 6, wherein the motion data comprises linear and angular velocities, and the obtaining module is configured to obtain the linear and angular velocities of the sweeping robot at least two time points within the preset time duration.
9. A computing device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of the method of escaping a floor sweeping robot of any one of claims 1 to 5.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the steps of the method for escaping from a floor sweeping robot according to any one of claims 1 to 5.
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