CN111240311A - Obstacle meeting processing method, device and equipment of sweeping robot and readable storage medium - Google Patents
Obstacle meeting processing method, device and equipment of sweeping robot and readable storage medium Download PDFInfo
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- CN111240311A CN111240311A CN201811447803.6A CN201811447803A CN111240311A CN 111240311 A CN111240311 A CN 111240311A CN 201811447803 A CN201811447803 A CN 201811447803A CN 111240311 A CN111240311 A CN 111240311A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 213
- 238000003672 processing method Methods 0.000 title claims description 9
- 238000000034 method Methods 0.000 claims abstract description 41
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- 230000004888 barrier function Effects 0.000 claims description 27
- 230000002441 reversible effect Effects 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 11
- 238000004140 cleaning Methods 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 2
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- 230000033001 locomotion Effects 0.000 description 4
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The embodiment of the application provides a method, a device and equipment for processing obstacles of a sweeping robot and a readable storage medium. The method comprises the following steps: when the sweeping robot is detected to move to the position of the obstacle, controlling the sweeping robot to execute obstacle crossing operation; and if the obstacle crossing fails, controlling the sweeping robot to be separated from the obstacle crossing state. According to the scheme of the embodiment, the obstacle crossing operation is carried out when the sweeping robot is detected to move to the position of the obstacle, whether the obstacle can be crossed is tried, and when the obstacle cannot be crossed, the sweeping robot is controlled to be separated from the obstacle crossing state, so that whether the sweeping robot can cross the obstacle is effectively tried, the requirement of actual use is met, and the user use experience of the sweeping robot is improved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a method, a device and equipment for processing obstacles of a sweeping robot and a readable storage medium.
Background
With the rapid development of science and technology, more and more intelligent living electrical appliances enter thousands of households, and the living comfort and convenience of people are greatly improved. The floor sweeping robot is used as an electric appliance capable of automatically sweeping, can replace people to sweep the ground, reduces the housework burden of people, and is more and more accepted by people.
When the existing sweeping robot encounters an obstacle in the operation process, effective attempt on whether the sweeping robot can cross the obstacle cannot be carried out, the requirement for actual use cannot be met, and the use experience of a user of the sweeping robot is influenced.
Disclosure of Invention
The present application aims to solve at least one of the above technical drawbacks. The technical scheme adopted by the application is as follows:
in a first aspect, the present application provides a method for handling an obstacle of a sweeping robot, including:
when the sweeping robot is detected to move to the position of the obstacle, controlling the sweeping robot to execute obstacle crossing operation;
and if the obstacle crossing fails, controlling the sweeping robot to be separated from the obstacle crossing state.
Optionally, detecting that the sweeping robot moves to the obstacle position includes:
and when the driving wheel of the sweeping robot is detected to slip, determining the slipping position of the driving wheel as the position of the obstacle.
Optionally, controlling the sweeping robot to perform obstacle crossing operation includes:
controlling the sweeping robot to rotate by a first preset angle by taking a driving wheel on one side as an axis;
and controlling the sweeping robot to rotate by a second preset angle by taking the driving wheel on the other side as an axis.
Optionally, the obstacle crossing failure comprises at least one of:
the sweeping robot does not reach a target position within a first preset time, and the target position is an expected position where the sweeping robot is located after obstacle crossing is executed if the sweeping robot can successfully cross the obstacle;
detecting collision when the sweeping robot performs obstacle crossing operation;
and detecting that the duration of the slipping of the driving wheel of the sweeping robot exceeds a second preset time.
Optionally, controlling the sweeping robot to disengage from the obstacle crossing state includes:
the robot of sweeping the floor is controlled to retreat until reaching the preset state to make it break away from the obstacle crossing state, wherein the preset state includes:
the sweeping robot backs to a preset length distance away from the position of the obstacle; and the number of the first and second groups,
in the process of backing, the sweeping robot does not detect the slipping of the driving wheels within a third preset time.
Optionally, when the robot of sweeping the floor can't retreat until reaching and predetermineeing the state, the robot of controlling sweeping the floor breaks away from and hinders the state more, include:
controlling the sweeping robot to execute a return action; wherein the retraction action comprises:
step a, controlling the sweeping robot to rotate a driving wheel on one side in a forward direction and rotate a driving wheel on the other side in a reverse direction within a third preset time;
step b, controlling the sweeping robot to control the two driving wheels to rotate in the direction opposite to the rotating direction in the step a within a fourth preset time;
and c, circularly executing the step a and the step b until the sweeping robot moves to the position of the obstacle.
Optionally, after the obstacle crossing failure, the method further comprises:
and determining the position of the obstacle as the non-reversible position.
In a second aspect, the present application provides a barrier treatment device for a floor sweeping robot, the device including:
the obstacle crossing operation execution module is used for controlling the sweeping robot to execute obstacle crossing operation when the sweeping robot is detected to move to the position of the obstacle;
and the separation obstacle crossing module is used for controlling the floor sweeping robot to separate from the obstacle crossing state when the obstacle crossing fails.
Optionally, when the obstacle crossing operation execution module detects that the sweeping robot moves to the obstacle position, the obstacle crossing operation execution module is specifically configured to:
and when the driving wheel of the sweeping robot is detected to slip, determining the slipping position of the driving wheel as the position of the obstacle.
Optionally, the obstacle crossing operation execution module is specifically configured to, when controlling the sweeping robot to execute the obstacle crossing operation:
controlling the sweeping robot to rotate by a first preset angle by taking a driving wheel on one side as an axis;
and controlling the sweeping robot to rotate by a second preset angle by taking the driving wheel on the other side as an axis.
Optionally, the obstacle crossing failure comprises at least one of:
the sweeping robot does not reach a target position within a first preset time, and the target position is an expected position where the sweeping robot is located after obstacle crossing is executed if the sweeping robot can successfully cross the obstacle;
detecting collision when the sweeping robot performs obstacle crossing operation;
and detecting that the duration of the slipping of the driving wheel of the sweeping robot exceeds a second preset time.
Optionally, the obstacle crossing and separating module is specifically configured to, when controlling the sweeping robot to break away from the obstacle crossing state:
the robot of sweeping the floor is controlled to retreat until reaching the preset state to make it break away from the obstacle crossing state, wherein the preset state includes:
the sweeping robot backs to a preset length distance away from the position of the obstacle; and the number of the first and second groups,
in the process of backing, the sweeping robot does not detect the slipping of the driving wheels within a third preset time.
Optionally, when the robot of sweeping the floor can't retreat until reaching and predetermineeing the state, break away from obstacle crossing module when the robot of sweeping the floor breaks away from obstacle crossing state in control, specifically be used for:
controlling the sweeping robot to execute a return action; wherein the retraction action comprises:
step a, controlling the sweeping robot to rotate a driving wheel on one side in a forward direction and rotate a driving wheel on the other side in a reverse direction within a third preset time;
step b, controlling the sweeping robot to control the two driving wheels to rotate in the direction opposite to the rotating direction in the step a within a fourth preset time;
and c, circularly executing the step a and the step b until the sweeping robot moves to the position of the obstacle.
Optionally, the method further comprises:
and the non-reversible position determining module is used for determining the position of the obstacle as the non-reversible position after the obstacle crossing failure.
In a third aspect, the present application provides an electronic device comprising: a processor and a memory;
a memory for storing operating instructions;
the processor is used for executing the obstacle handling method of the sweeping robot shown in any one of the implementation modes of the first aspect of the application by calling the operation instruction.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the obstacle handling method for a sweeping robot as shown in any one of the embodiments of the first aspect of the present application.
The technical scheme provided by the embodiment of the application has the following beneficial effects:
according to the scheme of the embodiment, the obstacle crossing operation is carried out when the sweeping robot is detected to move to the position of the obstacle, whether the obstacle can be crossed is tried, and when the obstacle cannot be crossed, the sweeping robot is controlled to be separated from the obstacle crossing state, so that whether the sweeping robot can cross the obstacle is effectively tried, the requirement of actual use is met, and the user use experience of the sweeping robot is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a schematic flow chart of a method for processing an obstacle of a cleaning robot according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an obstacle encountering processing device of a sweeping robot according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
When the existing sweeping robot runs into a barrier in the running process, because the obstacle cannot be crossed to effectively try, the sweeping robot cannot be determined to cross the barrier, the height of the barrier cannot be lower, the sweeping robot can effectively sweep the area of the barrier when crossing, the sweeping effect of the sweeping robot is influenced, and the situation that the sweeping robot is partially clamped above the barrier after moving to the top of the barrier can also occur, so that the sweeping robot cannot continue to work.
The application provides a method, a device and equipment for processing obstacles of a sweeping robot and a readable storage medium, and aims to solve the technical problems in the prior art.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
An embodiment of the present application provides a method for handling an obstacle of a sweeping robot, as shown in fig. 1, the method may mainly include:
step S110: when the sweeping robot is detected to move to the position of the obstacle, controlling the sweeping robot to execute obstacle crossing operation;
step S120: and if the obstacle crossing fails, controlling the sweeping robot to be separated from the obstacle crossing state.
In this embodiment, when the sweeping robot moves to the position of the obstacle, the sweeping robot may be jammed or blocked due to the obstacle having a certain height, and these conditions may be detected to determine whether the sweeping robot moves to the position of the obstacle.
When the sweeping robot moves to the position of the obstacle, the sweeping robot enters an obstacle crossing state and performs obstacle crossing operation, so that the sweeping robot can try to pass through the obstacle or not, and if the sweeping robot passes through the obstacle, the work before the obstacle crossing operation can be continued; if the obstacle crossing operation is performed, the obstacle crossing fails, the sweeping robot cannot cross the obstacle, and the sweeping robot can be controlled to be separated from the obstacle crossing state.
According to the obstacle crossing processing method of the sweeping robot, obstacle crossing operation is carried out when the sweeping robot is detected to move to the position of the obstacle, whether the obstacle can be crossed is tried, and when the obstacle cannot be crossed, the sweeping robot is controlled to be separated from the obstacle crossing state, so that whether the sweeping robot can effectively try to cross the obstacle is achieved, the requirement of practical use is met, and the user use experience of the sweeping robot is improved.
In another embodiment of the application, the detecting that the sweeping robot moves to the position of the obstacle includes:
and when the driving wheel of the sweeping robot is detected to slip, determining the slipping position of the driving wheel as the position of the obstacle.
In this embodiment, when the sweeping robot moves to the obstacle position and is then stuck or blocked, the driving wheel of the sweeping robot slips, so that the position of the obstacle can be determined by detecting the position of the slipping driving wheel, and it can be considered that when the driving wheel slips, the position where the sweeping robot is located is the obstacle position.
Specifically, when the drive wheels slip, the current of the drive motors of the drive wheels changes, so the drive wheel slip can be detected by monitoring the current change of the drive motors of the drive wheels.
In another embodiment of the application, the above-mentioned control robot that sweeps floor carries out obstacle crossing operation includes:
controlling the sweeping robot to rotate by a first preset angle by taking a driving wheel on one side as an axis;
and controlling the sweeping robot to rotate by a second preset angle by taking the driving wheel on the other side as an axis.
In this embodiment, the sweeping robot is controlled to rotate on two sides by respectively taking the driving wheels on the two sides as the axes, and in practical application, the speed of the driving wheel on one side serving as the axis can be controlled to be lower than that of the driving wheel on the side far away from the axis, so that the rotation of the sweeping robot is realized.
When the height of the obstacle is low, in the first rotation process, the driving wheel far away from the axle center can be in contact with the obstacle, move along the obstacle and move above the obstacle; then, the driving wheel on the obstacle is used as an axis to rotate, so that the driving wheel on the other side also moves to the position above the obstacle.
When the sweeping robot crosses an obstacle, if two driving wheels move towards the obstacle in a straight line, the driving wheels easily slip when contacting with the obstacle, and the height that the driving wheels can cross is low. Obstacle-crossing operation in this embodiment, the drive wheel that uses both sides respectively is rotatory as the axle center for two drive wheels are in proper order more to the barrier top, can make at rotatory in-process, the drive wheel of keeping away from the axle center side crawls along the barrier, and still can contact with the barrier after being heightened by the barrier, reduce and skid, provide stronger drive power, consequently compare in two drive wheels towards barrier rectilinear motion jointly, can cross higher barrier, have better obstacle-crossing ability.
In this embodiment, the first preset angle may be a degree of a central angle corresponding to a circular arc rotated by the sweeping robot for the first rotation; the second preset angle may be the degree of the central angle corresponding to the circular arc rotated by the sweeping robot for the second rotation. The first preset angle and the second preset angle can be set according to actual needs, and the first preset angle and the second preset angle can be the same or different.
In another embodiment of the present application, the obstacle crossing failure includes at least one of:
the sweeping robot does not reach a target position within a first preset time, and the target position is an expected position where the sweeping robot is located after obstacle crossing is executed if the sweeping robot can successfully cross the obstacle;
detecting collision when the sweeping robot performs obstacle crossing operation;
and detecting that the duration of the slipping of the driving wheel of the sweeping robot exceeds a second preset time.
In this embodiment, the target position may be an expected position where the sweeping robot can successfully cross the obstacle and perform obstacle crossing, and specifically, when the obstacle crossing motion performed by the sweeping robot is performed as the above two-side rotation respectively taking the driving wheels on the two sides as the axes, the target position may be calculated according to the current position, the speeds of the two driving wheels, and the rotation angle.
The first preset time can be set according to the actual situation, and when the obstacle crossing time is not less than the first preset time, the obstacle crossing time is considered to be too long, and the sweeping robot is in a state that the obstacle crossing cannot be normally carried out, namely, the obstacle crossing fails.
In this embodiment, the collision between the sweeping robot and the obstacle can be detected by the collision sensor of the sweeping robot, the sensing parts of the collision sensor are located at two sides of the body of the sweeping robot, and if the collision is detected, it is indicated that the height of the obstacle reaches the body position of the sweeping robot, and the obstacle cannot be overturned.
In this embodiment, if the time that the driving wheel of the sweeping robot continuously slips exceeds the second preset time in the obstacle crossing process, it is indicated that the driving wheel is slipping for a long time, it can be considered that the obstacle crossing action of the sweeping robot cannot be skipped due to the fact that the height of the obstacle is too high, and the second preset time can be set according to an actual situation.
In another embodiment of the application, the above-mentioned control robot that sweeps floor breaks away from the obstacle crossing state includes:
the robot of sweeping the floor is controlled to retreat until reaching the preset state to make it break away from the obstacle crossing state, wherein the preset state includes:
the sweeping robot backs to a preset length distance away from the position of the obstacle; and the number of the first and second groups,
in the process of backing, the sweeping robot does not detect the slipping of the driving wheels within a third preset time.
In the embodiment, after the obstacle crossing failure is determined, the sweeping robot can be controlled to be separated from the obstacle crossing state, and after the sweeping robot is separated from the obstacle crossing state, the sweeping robot is far away from the obstacle, and the follow-up work is not influenced by the obstacle any more.
Specifically, the operation of disengaging from the obstacle crossing state may be to control the sweeping robot to retreat directly.
When the sweeping robot can retreat to a preset length distance away from the obstacle position, the sweeping robot can be considered to be separated from the obstacle crossing state. The preset length distance can be set according to actual needs.
In the process of backing up, the sweeping robot does not detect the slipping of the driving wheels within the third preset time, and the sweeping robot can be considered to be separated from the obstacle crossing state. The third preset time can be set according to actual needs.
In another embodiment of the present application, when the robot that sweeps floor can not retreat until reaching a preset state, the robot that sweeps floor of the aforesaid control breaks away from the obstacle crossing state, includes:
controlling the sweeping robot to execute a return action; wherein the retraction action comprises:
step a, controlling the sweeping robot to rotate a driving wheel on one side in a forward direction and rotate a driving wheel on the other side in a reverse direction within a third preset time;
step b, controlling the sweeping robot to control the two driving wheels to rotate in the direction opposite to the rotating direction in the step a within a fourth preset time;
and c, circularly executing the step a and the step b until the sweeping robot moves to the position of the obstacle.
In this embodiment, the sweeping robot may be in a state of being stuck above the obstacle after the obstacle crossing failure, and in this state, the control of the sweeping robot to directly retreat may not be disengaged from above the obstacle, and a retreat motion may be performed to realize that the control of the sweeping robot to retreat from above the obstacle.
Specifically, the sweeping robot executes the step a, the sweeping robot can twist towards one side above the obstacle, the step b can twist towards the other side above the obstacle, and the steps a and b are executed in a circulating manner, so that the sweeping robot can do left twisting and right twisting motions above the obstacle for multiple times, the position of the sweeping robot clamped above the obstacle can be moved, and the sweeping robot can retreat from the upper side of the obstacle until the position of the obstacle is reached.
In this embodiment, the third preset time and the fourth preset time can be set as required, so that the third preset time and the fourth preset time are the same, the time for the sweeping robot to turn left and right is the same, and the robot is prevented from deflecting towards one side by a large margin.
When the sweeping robot cannot directly retreat, the above-mentioned escaping action is executed, the sweeping robot is tried to retreat from the obstacle, the sweeping robot is favorably separated from the obstacle crossing state, and the normal work of the sweeping robot is ensured.
In an embodiment of the present application, after the obstacle crossing failure, the method further includes:
and determining the position of the obstacle as the non-reversible position.
In the embodiment, the non-reversible position is determined, so that the non-reversible obstacle is avoided when a working route is planned, and the normal work of the sweeping robot is ensured.
Based on the same principle as the method shown in fig. 1, the embodiment of the present application further provides a obstacle handling device of a cleaning robot, as shown in fig. 2, the obstacle handling device 20 of the cleaning robot may include:
the obstacle crossing operation executing module 210 is configured to control the sweeping robot to execute an obstacle crossing operation when it is detected that the sweeping robot moves to an obstacle position;
and the obstacle crossing disengaging module 220 is used for controlling the sweeping robot to disengage from the obstacle crossing state when the obstacle crossing fails.
The robot that sweeps floor that this embodiment provided meets barrier processing apparatus, through detect the robot that sweeps floor and remove and hinder the operation when the barrier position, try whether can cross the barrier, and when the obstacle can't be crossed in the determination, control robot that sweeps floor breaks away from and hinders the state more, can realize the robot that sweeps floor and can not cross the effective attempt to the barrier, satisfy in-service use's needs, promote the user who sweeps floor the robot and use experience.
Optionally, when the obstacle crossing operation execution module detects that the sweeping robot moves to the obstacle position, the obstacle crossing operation execution module is specifically configured to:
and when the driving wheel of the sweeping robot is detected to slip, determining the slipping position of the driving wheel as the position of the obstacle.
Optionally, the obstacle crossing operation execution module is specifically configured to, when controlling the sweeping robot to execute the obstacle crossing operation:
controlling the sweeping robot to rotate by a first preset angle by taking a driving wheel on one side as an axis;
and controlling the sweeping robot to rotate by a second preset angle by taking the driving wheel on the other side as an axis.
Optionally, the obstacle crossing failure comprises at least one of:
the sweeping robot does not reach a target position within a first preset time, and the target position is an expected position where the sweeping robot is located after obstacle crossing is executed if the sweeping robot can successfully cross the obstacle;
detecting collision when the sweeping robot performs obstacle crossing operation;
and detecting that the duration of the slipping of the driving wheel of the sweeping robot exceeds a second preset time.
Optionally, the obstacle crossing and separating module is specifically configured to, when controlling the sweeping robot to break away from the obstacle crossing state:
the robot of sweeping the floor is controlled to retreat until reaching the preset state to make it break away from the obstacle crossing state, wherein the preset state includes:
the sweeping robot backs to a preset length distance away from the position of the obstacle; and the number of the first and second groups,
in the process of backing, the sweeping robot does not detect the slipping of the driving wheels within a third preset time.
Optionally, when the robot of sweeping the floor can't retreat until reaching and predetermineeing the state, break away from obstacle crossing module when the robot of sweeping the floor breaks away from obstacle crossing state in control, specifically be used for:
controlling the sweeping robot to execute a return action; wherein the retraction action comprises:
step a, controlling the sweeping robot to rotate a driving wheel on one side in a forward direction and rotate a driving wheel on the other side in a reverse direction within a third preset time;
step b, controlling the sweeping robot to control the two driving wheels to rotate in the direction opposite to the rotating direction in the step a within a fourth preset time;
and c, circularly executing the step a and the step b until the sweeping robot moves to the position of the obstacle.
Optionally, the method further comprises:
and the non-reversible position determining module is used for determining the position of the obstacle as the non-reversible position after the obstacle crossing failure.
It can be understood that the modules of the obstacle encountering processing device of the sweeping robot in the embodiment have functions of implementing the corresponding steps of the obstacle encountering processing method of the sweeping robot in the embodiment shown in fig. 1. The function can be realized by hardware, and can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above. The modules can be software and/or hardware, and each module can be implemented independently or by integrating a plurality of modules. For the functional description of each module of the obstacle encountering processing device of the sweeping robot, reference may be specifically made to the corresponding description of the obstacle encountering processing method of the sweeping robot in the embodiment shown in fig. 1, and details are not repeated here.
An embodiment of the present application provides an electronic device, as shown in fig. 3, an electronic device 2000 shown in fig. 3 includes: a processor 2001 and a memory 2003. Wherein the processor 2001 is coupled to a memory 2003, such as via a bus 2002. Optionally, the electronic device 2000 may also include a transceiver 2004. It should be noted that the transceiver 2004 is not limited to one in practical applications, and the structure of the electronic device 2000 is not limited to the embodiment of the present application.
The processor 2001 is applied to the embodiment of the present application to implement the method shown in the above method embodiment. The transceiver 2004 may include a receiver and a transmitter, and the transceiver 2004 is applied to the embodiments of the present application to implement the functions of the electronic device of the embodiments of the present application to communicate with other devices when executed.
The processor 2001 may be a CPU, general purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 2001 may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs and microprocessors, and the like.
The memory 2003 may be, but is not limited to, a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, an EEPROM, a CD-ROM or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
Optionally, the memory 2003 is used to store application program code for performing the disclosed aspects and is controlled in execution by the processor 2001. The processor 2001 is configured to execute the application program code stored in the memory 2003 to implement the obstacle handling method of the cleaning robot shown in the above method embodiment.
The electronic device provided by the embodiment of the application is applicable to any embodiment of the method, and is not described herein again.
The embodiment of the application provides an electronic equipment, compare with prior art, through detect the robot that sweeps the floor and remove when the barrier position obstacle crossing operation, try whether can cross the barrier to when confirming can't cross the barrier, control the robot that sweeps the floor breaks away from the obstacle crossing state, can realize the robot that sweeps the floor and can cross the effective attempt whether the barrier can cross, satisfy the needs of in-service use, promote the user who sweeps the floor the robot and use experience.
The embodiment of the application provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the program is executed by a processor, the obstacle processing method of the sweeping robot shown in the above method embodiment is implemented.
The computer-readable storage medium provided in the embodiments of the present application is applicable to any of the embodiments of the foregoing method, and is not described herein again.
Compared with the prior art, the embodiment of the application provides a computer readable storage medium, through detect the robot that sweeps the floor and remove when the barrier position, try whether can cross the barrier, and when confirming can't cross the barrier, control the robot that sweeps the floor breaks away from and crosses the barrier state, can realize the robot that sweeps the floor and can cross the effective attempt of barrier, satisfy the needs of in-service use, promote the user of the robot that sweeps the floor and use experience.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A obstacle encountering treatment method of a sweeping robot is characterized by comprising the following steps:
when the fact that the sweeping robot moves to the position of an obstacle is detected, controlling the sweeping robot to execute obstacle crossing operation;
and if the obstacle crossing fails, controlling the sweeping robot to be separated from the obstacle crossing state.
2. The obstacle handling method of the sweeping robot of claim 1, wherein detecting that the sweeping robot moves to the obstacle position comprises:
and when the driving wheel of the sweeping robot is detected to slip, determining the slipping position of the driving wheel as the position of the obstacle.
3. The obstacle crossing processing method of the sweeping robot as claimed in claim 1, wherein the controlling the sweeping robot to perform obstacle crossing operation comprises:
controlling the sweeping robot to rotate by a first preset angle by taking a driving wheel on one side as an axis;
and controlling the sweeping robot to rotate by a second preset angle by taking the driving wheel on the other side as an axis.
4. A method as claimed in claim 1, wherein the obstacle crossing failure includes at least one of the following:
the sweeping robot does not reach a target position within a first preset time, and the target position is an expected position where the sweeping robot is located after obstacle crossing if the sweeping robot can successfully cross the obstacle;
the cleaning robot detects collision when performing obstacle crossing operation;
and detecting that the duration of the slipping of the driving wheels of the sweeping robot exceeds a second preset time.
5. The obstacle crossing processing method of the sweeping robot as claimed in claim 1, wherein the controlling the sweeping robot to be separated from the obstacle crossing state comprises:
control the robot of sweeping the floor is backed off until reaching preset state to make it break away from obstacle crossing state, wherein preset state includes:
the sweeping robot retreats to a preset length distance away from the position of the obstacle; and the number of the first and second groups,
in the process of backing, the sweeping robot does not detect the slipping of the driving wheels within a third preset time.
6. The obstacle crossing processing method of the sweeping robot as claimed in claim 5, wherein when the sweeping robot cannot retreat until reaching a preset state, the controlling the sweeping robot to be separated from the obstacle crossing state comprises:
controlling the sweeping robot to execute a return action; wherein the retraction action comprises:
step a, controlling the sweeping robot to rotate a driving wheel on one side in a forward direction and rotate a driving wheel on the other side in a reverse direction within a third preset time;
step b, controlling the sweeping robot to control the two driving wheels to rotate in a direction opposite to the rotating direction in the step a within a fourth preset time;
and c, circularly executing the step a and the step b until the sweeping robot moves to the position of the obstacle.
7. A method for handling obstacles of a sweeping robot according to any one of claims 1-6, characterized in that after the obstacle crossing failure, the method further comprises:
and determining the position of the obstacle as an unclonable position.
8. The utility model provides a robot that sweeps floor meets barrier processing apparatus which characterized in that includes:
the obstacle crossing operation execution module is used for controlling the sweeping robot to execute obstacle crossing operation when the sweeping robot is detected to move to the position of an obstacle;
and the separation obstacle crossing module is used for controlling the floor sweeping robot to separate from the obstacle crossing state when the obstacle crossing fails.
9. An electronic device, comprising a processor and a memory;
the memory is used for storing operation instructions;
the processor is used for executing the obstacle handling method of the sweeping robot in any one of claims 1-7 by calling the operation instruction.
10. A computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the obstacle handling method of the sweeping robot of any one of claims 1-7.
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| CN201811447803.6A CN111240311A (en) | 2018-11-29 | 2018-11-29 | Obstacle meeting processing method, device and equipment of sweeping robot and readable storage medium |
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| CN201811447803.6A CN111240311A (en) | 2018-11-29 | 2018-11-29 | Obstacle meeting processing method, device and equipment of sweeping robot and readable storage medium |
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| CN114098540A (en) * | 2021-12-07 | 2022-03-01 | 湖南格兰博智能科技有限责任公司 | Obstacle crossing method for sweeping robot |
| CN114610013A (en) * | 2021-07-26 | 2022-06-10 | 北京石头创新科技有限公司 | Obstacle-encountering processing method and device for self-walking robot, robot and storage medium |
| WO2023124788A1 (en) * | 2021-12-28 | 2023-07-06 | 速感科技（北京）有限公司 | Autonomous mobile device, control method therefor, apparatus, and storage medium |
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