CN111427362A - Abnormal detection method for robot walking along straight edge and processing method for card release - Google Patents
Abnormal detection method for robot walking along straight edge and processing method for card release Download PDFInfo
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- CN111427362A CN111427362A CN202010321855.XA CN202010321855A CN111427362A CN 111427362 A CN111427362 A CN 111427362A CN 202010321855 A CN202010321855 A CN 202010321855A CN 111427362 A CN111427362 A CN 111427362A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Abstract
The invention discloses an abnormity detection method for robot walking along a straight edge and a processing method for card releasing. According to the abnormity detection method, whether the robot is clamped or not in the straight-edge walking process can be rapidly and accurately judged by combining the deflection angle of the robot and detection data of the gyroscope and the encoder, the detection and judgment can be realized only by the gyroscope and the encoder on the driving wheel which are configured on the basis of the robot, other parts do not need to be additionally added, and the detection and judgment cost is lower. According to the processing method, under the condition that the robot is determined to be clamped along the straight edge, the current direction and position are calibrated, and the direction and position at the moment are set to be the calibrated direction and position after the robot is separated from the straight edge, so that the problem that positioning information of the robot is inaccurate due to the fact that driving wheels slip and the like after the robot is clamped is avoided, the accuracy of robot positioning and drawing is ensured, and the adaptability of the inertial navigation robot in a complex scene is improved.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an abnormity detection method for a robot walking along a straight edge and a card releasing processing method.
Background
At present, all intelligent floor sweeping robots are of a full-coverage type and basically have a wall-following process or a wall-following mode. When the robot is along the wall, when meetting the bank that some sensors can not detect, can directly wash away, lead to the fuselage to be died on the bank by the card, perhaps the robot can be withstood by the bank, can't walk forward to lead to the wheel to skid. According to incomplete statistics, the rate of the problem is very high in the complaint problem after sale of the sweeping robot. The sweeping robot with the laser radar still performs in this respect, because whether the robot moves or not can be judged by using data of the radar, but the sweeping robot adopting the inertial navigation cannot perform, so that the inertial navigation robot walks in a region with more ridges (such as a round stick, a U-shaped chair, an electronic scale and the like), and a map easily causes deviation, thereby resulting in poor sweeping experience.
A chinese patent application with application number CN201711141281.2 discloses a detection method that robot is blocked, through the control walking distance and the actual walking distance that combine two drive wheels to and the walking distance that combines the universal wheel, judge whether the robot is blocked, this kind of method need set up the encoder on the universal wheel and detect the walking distance of universal wheel, not only need improve the current structure of robot, has improved the hardware cost of robot moreover.
A chinese patent application with application number CN201810457864.4 discloses a method for detecting a robot being stuck, which compares elevation data recorded in a first preset time period with reference elevation data pre-stored in the robot, and combines the comprehensive judgment of time and slipping condition to accurately obtain the detection result of whether the robot is stuck. However, this method requires pre-storing reference elevation angle data, which is inconvenient and cumbersome to use.
Disclosure of Invention
In order to solve the problems, the invention provides an abnormity detection method for the robot walking along the straight edge and a processing method for the releasing of the card, so that the robot can rapidly detect whether the robot is clamped or not in the process of walking along the straight edge on the basis of not changing the structure of the robot. The specific technical scheme of the invention is as follows:
an abnormality detection method for a robot walking along a straight edge comprises the following steps: step S1, the robot judges based on the sensed data detected when walking along the edge, and determines that the robot walks along a straight edge; step S2, the robot judges whether the current deflection angle of the fuselage is larger than a preset angle, if yes, the robot goes to step S3, and if not, the robot goes to step S4; step S3, the robot determines that it is stuck; and step S4, the robot determines a first walking distance of the robot according to the forward acceleration of the gyroscope, the robot determines a second walking distance of the robot according to the parameters detected by the encoder, the robot judges whether the difference value between the second walking distance and the first walking distance is greater than a first preset walking distance, if not, the robot is determined not to be blocked, and if so, the robot is determined to be blocked.
Further, the step S1 specifically includes the following steps: the robot determines the distance between the robot body and the edge according to the parameters detected by the edge sensor; the robot determines the rotating speed of the driving wheel according to the parameters detected by the encoder; the robot determines the deflection angle and the deflection angular speed of the robot body according to the parameters detected by the gyroscope; and when the robot judges that the distance change between the robot body and the edge is kept within the preset distance, the difference value between the rotating speeds of the two driving wheels is smaller than the preset speed, and the deflection angle speed of the robot body is smaller than the preset angular speed, determining that the robot walks along the straight edge.
Further, before determining that the robot is stuck, the method further comprises the following steps: and judging whether the robot is stuck for N times, if so, determining that the robot is stuck, otherwise, determining that the robot is not stuck, wherein N is a natural number which is greater than or equal to 2 and less than or equal to 4.
Further, the preset angle is a value greater than 20 degrees.
Further, the first preset walking distance is set to be M times of the first walking distance.
Further, M is 2 or 3.
A robot card-releasing processing method comprises the following steps: the robot determines that the robot is clamped based on the abnormal detection method that the robot walks along the straight edge; the robot calibrates the current direction and position; the robot carries out the card releasing operation and continuously records the card releasing path information of the robot until the robot does not determine that the robot is clamped based on the abnormal detection method that the robot walks along the straight edge; the robot sets the direction and position at this time as the calibrated direction and position, and clears the recorded information of the card-out path.
A robot card-releasing processing method comprises the following steps: the robot determines that the robot is clamped based on the abnormal detection method that the robot walks along the straight edge; the robot calibrates the current direction and position; the robot carries out the card releasing operation until the robot does not determine that the robot is clamped based on the abnormal detection method that the robot walks along the straight edge; the robot sets the direction and position at this time to the calibrated direction and position.
According to the abnormal detection method for the robot walking along the straight edge, whether the robot is clamped or not in the walking process along the straight edge can be rapidly and accurately judged by combining the deflection angle of the robot and detection data of the gyroscope and the encoder, the detection and judgment can be realized only by the gyroscope and the encoder on the driving wheel which are configured on the basis of the robot, other parts do not need to be additionally arranged, and the detection and judgment cost is lower.
According to the processing method for the robot releasing from the card, under the condition that the robot is determined to be blocked along a straight edge, the current direction and position are calibrated, and the direction and position at the moment are set to be the calibrated direction and position after the robot is released from the card, so that the problem that positioning information of the robot is inaccurate due to the fact that driving wheels slip and the like after the robot is blocked is solved, the accuracy of robot positioning and drawing is ensured, and the adaptability of the inertial navigation robot in a complex scene is improved.
Drawings
Fig. 1 is a schematic flow chart of an abnormality detection method for a robot walking along a straight edge according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.
In the following description, specific details are given to provide a thorough understanding of the embodiments. However, it will be understood by those of ordinary skill in the art that the embodiments may be practiced without these specific details. For example, circuits may be shown in block diagrams in order not to obscure the embodiments in unnecessary detail. In other instances, well-known circuits, structures and techniques may not be shown in detail in order not to obscure the embodiments.
The robot can be an intelligent cleaning device such as a sweeping robot, a mopping robot and the like, and can comprise a robot main body, a sensing system, a control system, a driving system, a cleaning system, an energy system, a human-computer interaction system and the like.
The gyroscope arranged on the robot carrier is used for detecting the deflection angle speed of the robot and carrying out integral operation on the deflection angle speed to obtain a deflection angle; the encoder is used for detecting the walking distance of the robot, and the rotating speed of the driving wheel can be obtained by dividing the walking distance by the walking time; and be equipped with the edge sensor that can detect the distance between the fuselage side of robot and the wall or other objects's that follow limit, this edge sensor can be ultrasonic wave distance sensor, infrared intensity detection sensor, infrared distance sensor, physics switch detection collision sensor, electric capacity or resistance change detection sensor, TOF sensor or laser radar sensor etc..
As shown in fig. 1, an anomaly detection method for a robot walking along a straight edge is used for detecting whether the robot is stuck during walking along the straight edge. The straight-edge walking means that the robot walks along the edge of a wall or other objects extending in a straight line, namely, the robot walks along a straight wall or along the straight edge of the object. The method comprises the following steps: in step S1, the robot determines based on the sensed data detected while walking along the edge that the robot is walking along a straight edge, and then proceeds to step S2. Step S2, the robot judges whether the current deflection angle of the fuselage is larger than a preset angle, if yes, the robot goes to step S3, and if not, the robot goes to step S4; step S3, the robot determines that it is stuck; step S4, the robot carries out integral operation on the forward acceleration according to the forward acceleration of the gyroscope to obtain a speed value, then the speed value is multiplied by time to calculate a first walking distance of the robot, and the first walking distance is the actual walking distance of the robot; the robot also calculates a second walking distance of the robot according to the number of turns detected by the encoder in the same time and by multiplying the number of turns by the perimeter of the driving wheel, wherein the second walking distance is the distance which the robot should theoretically walk; the robot judges whether the difference value of the second walking distance and the first walking distance is larger than a first preset walking distance, if not, the robot is judged to normally walk, the robot is determined not to be clamped, and if so, the situation that the driving wheel of the robot slips is judged, the robot is determined to be clamped. The first preset walking distance may be configured according to specific product design requirements, and is generally set to be 2 times or 3 times of the first walking distance. This embodiment can judge fast accurately whether the robot is blocked along the straight flange walking in-process through the detection data that combines the deflection angle of robot and gyroscope and encoder, and this detection and judgement only need be based on the gyroscope of robot self configuration and the encoder on the drive wheel just can realize, need not additionally increase other spare parts, and the cost of detection and judgement is lower.
As one embodiment, the step S1 specifically includes the following steps: the robot determines the distance between the robot body and the edge according to the parameters detected by the edge sensor; the robot determines the rotating speed of the driving wheel according to the parameters detected by the encoder; the robot determines the deflection angle and the deflection angular speed of the robot body according to the parameters detected by the gyroscope; and if the robot judges that the distance change between the robot body and the edge is kept within the preset distance, the difference value between the rotating speeds of the two driving wheels is smaller than the preset speed, and the deflection angle speed of the robot body is smaller than the preset angular speed, determining that the robot walks along the straight edge. The preset distance refers to a small distance deviation of a robot walking route caused by machine body shake or sensor errors and the like in the robot walking process, if the deviation is within a preset distance range, the robot edge process is normal, otherwise, the robot edge process is abnormal. The preset distance can be configured correspondingly according to product design requirements, generally, when the robot is along the edge, the distance between the side edge of the robot body and the edge is 1 cm-2 cm, the preset distance is generally set to be 50% of the distance, namely, the change of the distance between the robot body and the edge is smaller than any value between 0.5 cm-1 cm, otherwise, the robot is not considered to walk along the straight edge. The preset speeds can also be configured according to specific product design requirements, under normal conditions, when the robot walks edgewise in a parallel mode, the speeds of the two driving wheels are the same or have small difference, and if the speed difference of the two driving wheels exceeds 20%, the robot can be considered not to walk along a straight edge. The preset angular speed can also be configured according to specific product design requirements, when a general robot walks along a straight edge, the angle does not exceed 3 degrees per second, mainly because the speed change of the driving wheel is adjusted by PID according to the distance from the current wall in the edge following process, the distance can be shaken certainly, so that the situation of small left-right swing can be caused, and if the angle change per second detected by the gyroscope is large and is more than 3 degrees, the robot can be considered not to walk along the straight edge. According to the method, whether the robot walks along the straight edge or not can be accurately obtained by judging through three different dimensions, and effective reference is provided for subsequent processing.
As one embodiment, before it is determined that the robot is stuck, the method further includes the following steps: and judging whether the robot is stuck for N times, if so, determining that the robot is stuck, otherwise, determining that the robot is not stuck, wherein N is a natural number which is greater than or equal to 2 and less than or equal to 4, and is preferably 3. According to the method, the accuracy of the detection of the stuck robot can be further improved through reasonable repeated detection, and the condition of misjudgment is greatly reduced.
As one embodiment, the preset angle is a value greater than 20 degrees, and by the angle value, the robot can reasonably and effectively judge whether the robot deflects because of being stuck.
As one embodiment, the first preset walking distance is set to be M times, preferably 2 times or 3 times, of the first walking distance. This embodiment judges the difference of two kinds of walking distances through the mode with the multiple, can accurately obtain whether the robot is blocked, avoids the condition of erroneous judgement to take place.
A robot card-releasing processing method comprises the following steps: the robot determines that the robot is blocked based on the abnormal detection method for the robot walking along the straight edge in any embodiment; the robot calibrates the current direction and position based on the data detected by the gyroscope and the encoder; the robot performs the card releasing operation (specifically, refer to the card releasing method described in chinese patent application CN 201711141281.2), and continuously records the card releasing path information of the robot until the robot does not determine that the robot is locked based on the abnormal detection method described in any of the above embodiments in which the robot travels along a straight edge; the robot sets the direction and position at this time as the calibrated direction and position, and clears the recorded information of the card-out path. By the processing method, the positioning error and the map error of the robot can be corrected, the accuracy of subsequent positioning navigation and map building of the robot is ensured, and the adaptability of the inertial navigation robot in a complex scene is improved.
A robot card-releasing processing method comprises the following steps: the robot determines that the robot is blocked based on the abnormal detection method for the robot walking along the straight edge in any embodiment; the robot calibrates the current direction and position based on the data detected by the gyroscope and the encoder; the robot performs a card removal operation (specifically, refer to the card removal method described in chinese patent application CN 201810457864.4), and during the card removal operation, the robot does not record detection data of the encoder and the gyroscope until the robot does not determine that the robot is stuck based on the abnormal detection method described in any of the above embodiments in which the robot travels along a straight edge; the robot sets the direction and position at this time to the calibrated direction and position. By the processing method, data processing resources of the robot in the card releasing process can be simplified, positioning errors and map errors of the robot can be corrected, accuracy of subsequent positioning navigation and map building of the robot is guaranteed, and adaptability of the inertial navigation robot in a complex scene is improved.
The following is an example of the right edge wall of the robot, and the edge process of the robot is explained:
firstly, the robot has ensured to touch the wall, and the robot carries out along the wall with the right of fuselage, after touching the wall, the robot need turn an angle to the left side direction, then utilize range finding sensors such as infrared sensor or TOF sensor on the fuselage right to measure the distance of fuselage side and wall, this distance can be an analog quantity, also can be a digital quantity, does PID control with the distance from the wall, controls the trend of two drive wheels, lets the robot keep with the fixed distance of wall theoretically. When the distance cannot be kept, such as walking, suddenly turning, or encountering some wall with very dim color, such as black, the robot can only hit the wall, try to hit the wall, and try to walk again in a state of a fixed distance away from the wall.
When the robot does not find the state of walking parallel to the wall at a fixed distance, the robot always leans against the wall, so that when the parallel state cannot be found, the speed difference value of the left driving wheel and the right driving wheel of the robot is larger, the right wheel is smaller, and the left wheel is larger. When the robot leans against the wall, if the distance capable of measuring the wall is smaller than the fixed distance, the PID algorithm can control the rotating speed of the right driving wheel to be increased, the robot is far away from the wall, the fixed distance between the robot and the wall is kept, and when the distance exceeding the fixed distance is detected, the PID algorithm can control the speed of the right driving wheel to be reduced, and the robot is close to the wall. The robot can be controlled to keep a fixed distance from the wall when the robot is along the wall by repeating the rapid adjustment.
Through the above control process, the robot has several characteristics in the process of following the wall: firstly, measuring the distance by using a sensor, wherein the aim is to keep a preset distance between the sensor and the wall; secondly, if the robot does not reach a state of being parallel to the wall, the speed difference between the two driving wheels is relatively large, and if the robot is already in the parallel state, the speed difference between the two driving wheels is definitely not large; thirdly, the angle change of the gyroscope per second is very small when the robot is in a parallel wall state, and the angle change of the gyroscope per second is relatively large when the robot is in a non-parallel wall state.
When the robot is stuck in the wall-following process, two situations generally exist, one situation is that the driving wheel is difficult to move, the other situation is that the driving wheel idles, and the states of the robot in the two situations are that the passive amplitude is small in situ and even the robot cannot see the movement. Generally, the robot has only two states along the wall, one is a non-parallel wall state and the other is a parallel wall state.
When the robot is in a non-parallel wall state, the speeds of the two driving wheels can keep a relatively large difference, and the angle change (and therefore the angular speed) of the gyroscope is generally large theoretically. By utilizing the characteristic, whether the robot is clamped or not can be accurately estimated, if the robot is clamped, the angular speed of a gyroscope of the robot is definitely very small, and meanwhile, the robot can not hit an obstacle for a long time, and when the difference value of two driving wheels is large, the robot turns to the right, and only two conditions exist: turning a blank circle (in this case, the angle is large); hitting an obstacle. If an obstacle is not encountered after a certain time, it is stuck.
When the robot is in a parallel wall state, there are two cases:
one is the case where the wall is relatively straight, the speeds of the two driving wheels will maintain a relatively small difference, and theoretically the change in angular velocity of the gyroscope will be small, and at the same time, in a balanced state, it will not collide with the wall. Thereby it is possible to accurately estimate whether the robot is stuck. In this case, the robot gets stuck, and two situations occur: in the first case, the robot body angle does not change. If the driving wheel idles, and the edge sensor can detect the distance, the moving distance of the robot can be estimated approximately by utilizing the forward acceleration vector of the gyroscope, and then the moving distance is compared with the distance calculated by the wheel encoder, and if the moving distance is large, the robot can be judged to be blocked. Secondly, if the wheel is difficult to rotate, the distance of theoretical walking can be calculated by using the preset speed, the distance is compared with the distance calculated by an encoder of an actual driving wheel, the current value of the driving wheel is compared, and if the current value is larger than a certain value, the wheel can be judged to be blocked. In the second case, the robot body changes when it is stuck. Because the speed difference of the two driving wheels is not large, the angle of the machine body can not be changed greatly theoretically. If the angle of the robot body changes, the situation shows that when one driving wheel of the robot is blocked, the robot body deflects under the action of inertia, the distance from the wall is detected to be not the preset distance, the speed is adjusted through a PID algorithm, the state along the wall changes to be in a non-parallel state, and the robot is switched to be detected to be blocked in the non-parallel state.
The other is the case that the wall is not a straight line, which is actually the case that the PID controls a dynamic adjustment process, and the robot respectively adopts the detection method to judge whether the robot is blocked.
When the robot runs along the wall, if the above situation is met, the result of positioning generally through feedback of a driving wheel encoder has a large error, real-time calculation is needed for correcting the error, if the judgment condition that the robot is stuck to the wall is detected to be satisfied, the current direction is recorded immediately, and the current passing path (the path can be represented by a grid map) is recorded from the moment. The detection can be carried out for a plurality of times continuously according to the actual situation, then the true jamming is judged, and then the difficulty is relieved. The information of the current orientation is recorded immediately when the jam is detected for the first time, and then it is not necessary to record until the judgment is cancelled in the middle, and then the recording is performed again when the judgment is judged for the first time again. The path information needs to be recorded until the stop detection stops or the end of the escaping.
After the user successfully gets rid of the difficulty, the recorded azimuth information needs to be set as the current azimuth information, and the recorded path information corresponding to the path information on the global map is removed, so that the map error and the positioning error are corrected.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The various features described in the foregoing detailed description may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
Those skilled in the art will appreciate that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes instructions for causing a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The logic or steps described in the embodiments above, which may be considered an ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A robot walking along a straight edge abnormity detection method is characterized by comprising the following steps:
step S1, the robot judges based on the sensed data detected when walking along the edge, and determines that the robot walks along a straight edge;
step S2, the robot judges whether the current deflection angle of the fuselage is larger than a preset angle, if yes, the robot goes to step S3, and if not, the robot goes to step S4;
step S3, the robot determines that it is stuck;
and step S4, the robot determines a first walking distance of the robot according to the forward acceleration of the gyroscope, the robot determines a second walking distance of the robot according to the parameters detected by the encoder, the robot judges whether the difference value between the second walking distance and the first walking distance is greater than a first preset walking distance, if not, the robot is determined not to be blocked, and if so, the robot is determined to be blocked.
2. The method according to claim 1, wherein the step S1 specifically comprises the steps of:
the robot determines the distance between the robot body and the edge according to the parameters detected by the edge sensor;
the robot determines the rotating speed of the driving wheel according to the parameters detected by the encoder;
the robot determines the deflection angle and the deflection angular speed of the robot body according to the parameters detected by the gyroscope;
and when the robot judges that the distance change between the robot body and the edge is kept within the preset distance, the difference value between the rotating speeds of the two driving wheels is smaller than the preset speed, and the deflection angle speed of the robot body is smaller than the preset angular speed, determining that the robot walks along the straight edge.
3. The method of claim 1, further comprising, prior to determining that the robot is stuck, the steps of:
and judging whether the robot is stuck for N times, if so, determining that the robot is stuck, otherwise, determining that the robot is not stuck, wherein N is a natural number which is greater than or equal to 2 and less than or equal to 4.
4. The method according to any one of claims 1 to 3, characterized in that:
the preset angle is a value greater than 20 degrees.
5. The method according to any one of claims 1 to 3, characterized in that:
the first preset walking distance is set to be M times of the first walking distance.
6. The method of claim 5, wherein:
and M is 2 or 3.
7. A robot card-off processing method is characterized by comprising the following steps:
the robot determines that the robot is stuck based on the abnormality detection method of walking along a straight edge by the robot according to any one of claims 1 to 6;
the robot calibrates the current direction and position;
the robot carries out the card-releasing operation and continuously records the card-releasing path information of the robot until the robot is not determined to be clamped based on the abnormal detection method that the robot walks along the straight edge according to any one of claims 1 to 6;
the robot sets the direction and position at this time as the calibrated direction and position, and clears the recorded information of the card-out path.
8. A robot card-off processing method is characterized by comprising the following steps:
the robot determines that the robot is stuck based on the abnormality detection method of walking along a straight edge by the robot according to any one of claims 1 to 6;
the robot calibrates the current direction and position;
the robot performs a card-releasing operation until the robot is not determined to be stuck based on the abnormality detection method in which the robot walks along a straight edge according to any one of claims 1 to 6;
the robot sets the direction and position at this time to the calibrated direction and position.
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| CN111802968A (en) * | 2020-08-02 | 2020-10-23 | 珠海市一微半导体有限公司 | Detection and escaping method for judging trapped state of robot |
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| CN111802968B (en) * | 2020-08-02 | 2022-02-08 | 珠海一微半导体股份有限公司 | Detection and escaping method for judging trapped state of robot |
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