CN111487969B - Abnormality detection method and processing method for robot to walk along edge in non-parallel manner - Google Patents
Abnormality detection method and processing method for robot to walk along edge in non-parallel manner Download PDFInfo
- Publication number
- CN111487969B CN111487969B CN202010321838.6A CN202010321838A CN111487969B CN 111487969 B CN111487969 B CN 111487969B CN 202010321838 A CN202010321838 A CN 202010321838A CN 111487969 B CN111487969 B CN 111487969B
- Authority
- CN
- China
- Prior art keywords
- robot
- preset
- determines
- parallel manner
- angular velocity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 43
- 238000003672 processing method Methods 0.000 title claims abstract description 12
- 230000005856 abnormality Effects 0.000 title claims description 15
- 238000000034 method Methods 0.000 claims abstract description 38
- 230000008859 change Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 abstract description 16
- 230000002159 abnormal effect Effects 0.000 description 9
- 238000010408 sweeping Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000013507 mapping 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
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an anomaly detection method and a processing method for a robot walking along edges in a non-parallel mode. According to the detection method, whether the robot is clamped in the edge process can be rapidly and accurately judged by combining the actual deflection angular speed, the theoretical deflection angular speed and the obstacle detection condition of the robot, the detection and judgment can be realized only by a gyroscope and an encoder on a driving wheel which are configured on the basis of the robot, other parts are not required to be additionally added, and the detection and judgment cost is lower. Under the condition that the edge of the robot is clamped, the processing method firstly calibrates the current direction and the current position, and then sets the current direction and the current position as the calibrated direction and the calibrated position after the robot is unclamped, so that the problem that positioning information of the robot is inaccurate due to the fact that a driving wheel slips after the robot is clamped is avoided, the accuracy of positioning and drawing of the robot is guaranteed, and the adaptability of the inertial navigation robot in complex scenes is improved.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an anomaly detection method and a processing method for a robot walking along edges in a non-parallel mode.
Background
At present, the intelligent floor sweeping robots are all covered, and basically have a wall-following process or a wall-following mode. When the robot runs along the wall, the robot can directly punch up when encountering the bank which is not detected by some sensors, so that the robot body is blocked on the bank, or the robot can be propped by the bank and cannot walk forward, and wheels slip. According to incomplete statistics, the proportion of complaints after the floor sweeping robot is very high. The sweeping robot provided with the laser radar is also effective in this aspect, and because the data of the radar can be used for judging whether the machine moves or not, but the sweeping robot adopting inertial navigation cannot, the inertial navigation robot walks in a relatively large area of a bank (such as a round stick, a U-shaped chair, an electronic scale and the like), the map easily causes deviation, and the sweeping experience is poor.
One chinese patent application, application number CN201711141281.2, discloses a method for detecting a robot being jammed, by combining the control walking distance and the actual walking distance of two driving wheels, and combining the walking distance of a universal wheel, to determine whether the robot is jammed, the method needs to set an encoder on the universal wheel to detect the walking distance of the universal wheel, not only needs to modify the existing structure of the robot, but also improves the hardware cost of the robot.
The Chinese patent application with the application number of CN201810457864.4 discloses a method for detecting the clamped robot, which comprises the steps of comparing elevation angle data recorded in a first preset time period with reference elevation angle data stored in the robot in advance, and combining comprehensive judgment of time and slipping condition to accurately obtain the detection result of whether the robot is clamped or not. However, the method needs to store reference elevation angle data in advance, is inconvenient to use and is complex in operation.
Disclosure of Invention
In order to solve the problems, the invention provides an abnormality detection method and a processing method for the robot to walk along the edge in a non-parallel manner, so that the robot can accurately detect whether the robot is jammed in the process of the edge without changing the structure of the robot. The specific technical scheme of the invention is as follows:
an abnormality detection method for a robot to walk along edges in a non-parallel manner, comprising the steps of: step S1, the robot judges based on the sensing data detected during the edgewise walking, and determines that the robot walks edgewise in a non-parallel mode; step S2, the robot detects whether the difference value between the actual deflection angular velocity and the theoretical deflection angular velocity of the machine body is larger than a first preset value, if not, the step S3 is entered, and if so, the step S4 is entered; step S3, the robot determines that the robot is not clamped; and S4, determining whether the robot detects an obstacle in a first preset time, if so, determining that the robot is not jammed, and if not, determining that the robot is jammed.
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 rotation speed of the driving wheel according to the parameters detected by the encoder; the robot determines the deflection angle and the deflection angular velocity of the machine body according to the parameters detected by the gyroscope; when the robot judges that the distance change between the robot body and the edge is not within the preset distance, or the difference between the rotation speeds of the two driving wheels is not smaller than the preset speed, or the deflection angular speed of the robot body is larger than or equal to the preset angular speed, the robot is determined to walk along the edge in a non-parallel mode.
Further, the step S2 specifically includes the following steps: the robot determines the current actual deflection angular velocity of the machine body according to the parameters detected by the gyroscope; the robot determines the theoretical deflection angular speed of the machine body according to the parameters detected by the encoder; the robot judges whether the difference value between the actual deflection angular velocity and the theoretical deflection angular velocity is larger than a first preset value, if not, the step S3 is entered, and if so, the step S4 is entered.
Further, before determining that the robot is stuck, the method further comprises the following steps: whether the robot is jammed is judged continuously for N times, if so, the robot is determined to be jammed, otherwise, the robot is determined not to be jammed, wherein N is a natural number which is more than or equal to 2 and less than or equal to 4.
Further, the first preset value is set to a preset proportion of the theoretical deflection angular velocity, and the preset proportion is a numerical value greater than 0 and less than 1.
Further, the first preset time is set to be a time required for the robot to make one turn.
An anomaly handling method for a robot walking along edges in a non-parallel manner includes the following steps: the robot determines that the robot is blocked based on the abnormal detection method that the robot walks along the edge in a non-parallel mode; calibrating the current direction and position of the robot; the robot performs the card removing operation and continuously records the card removing path information of the robot until the robot is not determined to be blocked based on the abnormal detection method that the robot walks along the edge in a non-parallel mode; the robot sets the direction and the position at the moment as the calibrated direction and position, and clears the recorded card-removing path information.
An anomaly handling method for a robot walking along edges in a non-parallel manner includes the following steps: the robot determines that the robot is blocked based on the abnormal detection method that the robot walks along the edge in a non-parallel mode; calibrating the current direction and position of the robot; the robot performs the card releasing operation until the robot is not determined to be blocked based on the abnormal detection method that the robot walks along the edge in a non-parallel mode; 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 to walk along the edge in a non-parallel mode, whether the robot is clamped in the process of the robot edge can be rapidly and accurately judged by combining the actual deflection angular velocity, the theoretical deflection angular velocity and the obstacle detection condition of the robot, the detection and judgment can be realized only by using a gyroscope configured by the robot and an encoder on a driving wheel, other parts are not required to be additionally added, and the detection and judgment cost is lower.
According to the abnormal processing method for the robot to walk along the edge in a non-parallel mode, under the condition that the robot edge is clamped, the current direction and the current position are calibrated, the current direction and the current position are set to be the calibrated direction and the calibrated position after the robot is unclamped, the problem that positioning information of the robot is inaccurate due to the fact that a driving wheel slips after the robot is clamped is avoided, the accuracy of positioning and mapping of the robot is guaranteed, and the adaptability of an inertial navigation robot in a complex scene is improved.
Drawings
Fig. 1 is a flow chart of an abnormality detection method for a robot walking along a side in a non-parallel manner according to an embodiment of the present invention.
Detailed Description
The following describes the technical solution in the embodiment of the present invention in detail with reference to the drawings in the embodiment of the present invention. It should be understood that the following detailed description is merely illustrative of the invention, and is 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 provided by the embodiment of the invention can be intelligent cleaning equipment such as a sweeping robot, a mopping robot and the like, and the robot can comprise a machine main body, a sensing system, a control system, a driving system, a cleaning system, an energy system, a man-machine interaction system and the like.
The gyroscope is arranged on the robot carrier and is used for detecting the deflection angular velocity of the robot, and the deflection angular velocity is subjected to integral operation to obtain a deflection angle; the encoder is arranged for detecting the walking distance of the robot, and the rotation speed of the driving wheel can be obtained by dividing the walking distance and the walking time; and is equipped with a rim sensor capable of detecting the distance between the side of the body of the robot and the rim of the wall or other object, which may be an ultrasonic distance sensor, an infrared intensity detection sensor, an infrared distance sensor, a physical switch detection collision sensor, a capacitance or resistance change detection sensor, a TOF sensor, a lidar sensor, or the like.
As shown in fig. 1, an abnormality detection method for a robot to walk along a side in a non-parallel manner is used for detecting whether the robot is stuck during the walking along the side in a non-parallel manner. The method comprises the following steps:
step S1, the robot judges based on the sensing data detected during the edgewise walking, determines that the robot walks edgewise in a non-parallel manner, and then proceeds to step S2. Specifically, if the robot determines that the change in distance between the body and the edge along is maintained within a preset distance, and the difference between the rotational speeds of the two driving wheels is less than a preset speed, and the yaw rate of the body is less than a preset angular speed, it is determined that the robot walks along the edge in a parallel manner. The preset distance refers to a tiny distance deviation of a robot walking path caused by the vibration of a machine body or the error of a sensor in the walking process of the robot, 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 the design requirement of the product, generally, when the robot is along the edge, the distance between the side edge of the machine body and the edge is 1 cm to 2 cm, the preset distance is generally set to be 50% of the distance, namely, the change of the distance between the machine body of the robot and the edge is smaller than any value between 0.5 cm and 1 cm, otherwise, the robot can be considered to walk along the edge in a non-parallel mode. The preset speed can be configured according to specific product design requirements, and under normal conditions, when the robot walks along the edges in a parallel mode, the speeds of the two driving wheels are the same or have little difference, and if the speeds of the two driving wheels differ by more than 20%, the robot can be considered to walk along the edges in a non-parallel mode. The preset angular speed can be configured according to specific product design requirements, when a general robot walks along the edge in a parallel mode, the angle does not exceed 3 degrees per second, mainly because the current distance from the wall is required to be used for PID to adjust the speed change of the driving wheel in the edge-following process, the distance can certainly shake, the situation of small left and right swinging exists, and if the angle change per second detected by the gyroscope is large and is larger than 3 degrees, the robot can be considered to walk along the edge in a non-parallel mode.
And S2, when the robot walks along the edges in a non-parallel mode, detecting the actual deflection angular velocity of the robot body through a gyroscope, detecting the rotation distances of the two driving wheels through an encoder, calculating an arctangent function of the ratio of the difference of the rotation distances of the two driving wheels to the straight line distance between the two driving wheels, obtaining the rotation angle formed in the rotation process of the two driving wheels, and dividing the rotation angle by the rotation time of the driving wheels to obtain the theoretical deflection angular velocity. And comparing the actual deflection angular velocity with the theoretical deflection angular velocity, if the difference value of the actual deflection angular velocity and the theoretical deflection angular velocity is larger than a first preset value, entering a step S4, otherwise, entering a step S3. The first preset value may be configured according to specific product design requirements, and may generally be set to a preset ratio of the theoretical deflection angular velocity, where the preset ratio is a numerical value greater than 0 and less than 1, and preferably is 0.5.
Step S3, the robot determines that it is not stuck.
And S4, determining whether the robot detects an obstacle in a first preset time, if so, determining that the robot is not jammed, and if not, determining that the robot is jammed. The first preset time can also be configured according to specific product design requirements, and is generally set to be the time required by the robot to make one turn, preferably set to be 5 seconds.
According to the abnormal processing method for the robot to walk along the edge in a non-parallel mode, whether the robot is clamped in the process of the robot edge can be judged rapidly and accurately by combining the actual deflection angular speed, the theoretical deflection angular speed and the obstacle detection condition of the robot, the detection and judgment can be realized only by a gyroscope configured on the robot and an encoder on a driving wheel, other parts are not required to be additionally added, and the detection and judgment cost is lower.
As one embodiment, before determining that the robot is stuck, the method further comprises the steps of: whether the robot is jammed is judged continuously for N times, if so, the robot is determined to be jammed, otherwise, the robot is determined not to be jammed, wherein N is a natural number which is more than or equal to 2 and less than or equal to 5, and is preferably 3. According to the method, through reasonable repeated detection, the accuracy of the detection of the robot by the card can be further improved, and the situation of misjudgment is greatly reduced.
An anomaly handling method for a robot walking along edges in a non-parallel manner includes the following steps: the robot determines that the robot is stuck based on the abnormality detection method in which the robot walks along the sides in a non-parallel manner as described in any one of the above embodiments; calibrating the current direction and position of the robot based on the data detected by the gyroscope and the encoder; the robot performs the card removing operation (specifically, refer to the card removing method described in chinese patent application CN 201711141281.2), and continuously records the card removing path information of the robot until the robot is not determined to be blocked based on the anomaly detection method that the robot walks along the side in a non-parallel manner as described in any of the above embodiments; the robot sets the direction and the position at the moment as the calibrated direction and position, and clears the recorded card-removing path information. 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 complex scenes is improved.
An anomaly handling method for a robot walking along edges in a non-parallel manner includes the following steps: the robot determines that the robot is stuck based on the abnormality detection method in which the robot walks along the sides in a non-parallel manner as described in any one of the above embodiments; calibrating the current direction and position of the robot based on the data detected by the gyroscope and the encoder; the robot performs a card removing operation (specifically, refer to a card removing method described in chinese patent application CN 201810457864.4), during which the robot does not record detection data of the encoder and the gyroscope until the robot is not determined to be blocked based on the abnormal detection method of the robot walking along the sides in a non-parallel manner described in any of the above embodiments; 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 removing 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 complex scenes is improved.
The following description will be given by taking the right edge wall of the robot as an example:
firstly, the robot ensures that the robot touches a wall, the robot uses the right side of the robot body to follow the wall, after the robot touches the wall, the robot needs to turn to the left direction by an angle, then the distance between the side edge of the robot body and the wall is measured by using a distance measuring sensor such as an infrared sensor or a TOF sensor on the right side of the robot body, the distance can be an analog quantity or a digital quantity, PID control is performed by using the distance from the wall to control the trend of two driving wheels, and the robot is theoretically kept at a fixed distance from the wall. When the distance cannot be maintained, for example, the robot walks around, suddenly turns around, or encounters a wall with a very dark color, for example, black, the robot can only collide with the wall, try to collide with the wall, and then find a state of walking at a fixed distance from the wall again as much as possible.
When the robot does not find a state of walking by a fixed distance on a parallel wall, the robot always leans towards the wall direction, so that when the robot cannot find the parallel state, the speed difference between 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 from the wall can be measured to be smaller than the fixed distance, the PID algorithm controls the rotation speed of the right driving wheel to be increased, so that the robot is far away from the wall, the fixed distance from the wall is kept, and when the distance is detected to be more than the fixed distance, the PID algorithm controls the speed of the right driving wheel to be reduced, so that 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 wall following process: first, the distance is measured with a sensor, the goal being to maintain a predetermined distance from the wall; second, if the robot does not reach a state parallel to the wall, the difference in speed of the two driving wheels is relatively large, and if it is already in a parallel state, the difference in speed of the two driving wheels is definitely not large; third, the angular change per second of the gyroscope is small when the robot is in a parallel wall state, and is relatively large when the robot is in a non-parallel wall state.
When the robot is jammed during the wall following process, there are two general cases, one is that the driving wheel is hard to move, the other is that the driving wheel idles, and the state of the robot is that the passive amplitude is very small in situ and even the robot cannot be seen. Generally, the robot has only two states along the wall, one is a non-parallel wall state and one is a parallel wall state.
When the robot is in a non-parallel wall state, the speeds of the two driving wheels will remain relatively large, and usually the angular variation (angular speed) of the gyroscope is theoretically large. By using this feature, it is possible to accurately estimate whether the robot is stuck, if it is stuck, the angular velocity of the robot gyroscope must be very small, and at the same time, the robot will usually not touch an obstacle for a long time, because the difference between the two driving wheels is large, turning right, only in two cases: turning an empty circle (in this case the angle is large); hit an obstacle. If a certain time has elapsed and no obstacle can be encountered, it is stuck.
When the robot is in a parallel wall state, there are two cases:
one is that the wall is relatively straight, the speeds of the two driving wheels will remain relatively small, and in theory the angular velocity of the gyroscope will change little, and at the same time, in a balanced state, will not hit the wall. Thereby it is possible to accurately estimate whether the robot is stuck. In this case, the robot is stuck, and two cases occur: in the first case, the robot body angle is unchanged. If the driving wheel is idle, and the edge sensor can detect the distance, the distance travelled by the robot can be estimated by using the forward acceleration vector of the gyroscope, and then compared with the distance calculated by the wheel encoder, if the distance is large, the robot can be judged to be jammed. Second, if the wheel is hard to rotate, the theoretical distance can be calculated by using the preset speed, and compared with the distance calculated by the encoder of the actual driving wheel, and the current value of the driving wheel is compared, if the current value is larger than a certain value, the situation that the wheel is jammed can be judged. In the second case, the robot changes its body when it is stuck. Since the difference in speed of the two drive wheels is not large, the angle of the fuselage will not theoretically change much. If the angle of the robot body changes, the robot body deflects under the inertia action when one driving wheel of the robot is clamped, the distance from the robot body to the wall is detected to be not a preset distance, the speed is regulated through a PID algorithm, the state along the wall changes, the robot body becomes a non-parallel state, and the robot is switched to be clamped and detected in the non-parallel state.
The other is the condition that the wall is not in a straight line, and the condition is that PID controls a dynamic adjustment process, and the robot can respectively judge whether the robot is blocked by adopting the detection method.
In the process of robot along wall, if the situation is met, the result of positioning by the feedback of the driving wheel encoder has a great error, real-time operation is needed for correcting the error, if the condition that the judgment condition of the upper blocked is met is detected, the current azimuth is recorded immediately, and the current 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 real jamming is judged, and then the trapping is relieved. The current orientation information is recorded immediately upon the first detection of a card, and then no recording is required unless this determination is eliminated in the middle, and then re-recording is performed when the first determination is made. The path information needs to be recorded until the stop detection stops or the escape ends.
After the escaping is successful, the recorded azimuth information is required to be set as the current azimuth information, and meanwhile, the recorded path information is cleared away from the path information corresponding to the global map, so that the errors of the map and the positioning errors are corrected back.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
The individual technical features described in the above embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the various possible combinations of embodiments of the invention are not described in detail.
Those skilled in the art will appreciate that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, including instructions for causing a single-chip microcomputer, chip or processor (processor) to perform all or part of the steps of the methods of the embodiments described herein. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The logic or steps described in the above embodiments may be considered a ordered listing of executable instructions for implementing logical functions, and 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 for illustrating the technical solution of the present invention, and not for limiting the same; although the 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 scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. An abnormality detection method for a robot to walk along a side in a non-parallel manner, comprising the steps of:
step S1, the robot judges based on the sensing data detected during the edgewise walking, and determines that the robot walks edgewise in a non-parallel mode;
step S2, the robot detects whether the difference value between the actual deflection angular velocity and the theoretical deflection angular velocity of the machine body is larger than a first preset value, if not, the step S3 is entered, and if so, the step S4 is entered;
step S3, the robot determines that the robot is not clamped;
and S4, determining whether the robot detects an obstacle in a first preset time, if so, determining that the robot is not jammed, and if not, determining that the robot is jammed.
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 rotation speed of the driving wheel according to the parameters detected by the encoder;
the robot determines the deflection angle and the deflection angular velocity of the machine body according to the parameters detected by the gyroscope;
when the robot judges that the distance change between the robot body and the edge is not within the preset distance, or the difference between the rotation speeds of the two driving wheels is not smaller than the preset speed, or the deflection angular speed of the robot body is larger than or equal to the preset angular speed, the robot is determined to walk along the edge in a non-parallel mode.
3. The method according to claim 2, wherein said step S2 comprises the steps of:
the robot determines the current actual deflection angular velocity of the machine body according to the parameters detected by the gyroscope;
the robot determines the theoretical deflection angular speed of the machine body according to the parameters detected by the encoder;
the robot judges whether the difference value between the actual deflection angular velocity and the theoretical deflection angular velocity is larger than a first preset value, if not, the step S3 is entered, and if so, the step S4 is entered.
4. A method according to any one of claims 1 to 3, characterized in that before determining that the robot is stuck, it further comprises the steps of:
whether the robot is jammed is judged continuously for N times, if so, the robot is determined to be jammed, otherwise, the robot is determined not to be jammed, wherein N is a natural number which is more than or equal to 2 and less than or equal to 4.
5. A method according to any one of claims 1 to 3, characterized in that:
the first preset value is set as a preset proportion of the theoretical deflection angular velocity, and the preset proportion is a numerical value which is more than 0 and less than 1.
6. A method according to any one of claims 1 to 3, characterized in that:
the first preset time is set to be the time required for the robot to make one turn.
7. An abnormality processing method for a robot to walk along a side in a non-parallel manner, comprising the steps of:
the robot determines that the robot is stuck based on the abnormality detection method in which the robot walks along the side in a non-parallel manner as claimed in any one of claims 1 to 6;
calibrating the current direction and position of the robot;
the robot performs the card removing operation and continuously records the card removing path information of the robot until the robot is not determined to be blocked based on the abnormality detection method of the robot walking along the sides in a non-parallel manner according to any one of claims 1 to 6;
the robot sets the direction and the position at the moment as the calibrated direction and position, and clears the recorded card-removing path information.
8. An abnormality processing method for a robot to walk along a side in a non-parallel manner, comprising the steps of:
the robot determines that the robot is stuck based on the abnormality detection method in which the robot walks along the side in a non-parallel manner as claimed in any one of claims 1 to 6;
calibrating the current direction and position of the robot;
the robot performs the card-releasing operation until the robot is not determined to be blocked based on the abnormality detection method in which the robot walks along the sides in a non-parallel manner as described in any one of claims 1 to 6;
the robot sets the direction and position at this time to the calibrated direction and position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010321838.6A CN111487969B (en) | 2020-04-22 | 2020-04-22 | Abnormality detection method and processing method for robot to walk along edge in non-parallel manner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010321838.6A CN111487969B (en) | 2020-04-22 | 2020-04-22 | Abnormality detection method and processing method for robot to walk along edge in non-parallel manner |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111487969A CN111487969A (en) | 2020-08-04 |
| CN111487969B true CN111487969B (en) | 2023-05-05 |
Family
ID=71794814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010321838.6A Active CN111487969B (en) | 2020-04-22 | 2020-04-22 | Abnormality detection method and processing method for robot to walk along edge in non-parallel manner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111487969B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4292499A1 (en) * | 2021-02-10 | 2023-12-20 | Beijing Roborock Innovation Technology Co., Ltd. | Cleaning method and apparatus for automatic cleaning device, medium, and electronic device |
| CN113679290B (en) * | 2021-02-10 | 2022-11-08 | 北京石头创新科技有限公司 | Automatic cleaning equipment control method and device, medium and electronic equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005332055A (en) * | 2004-05-18 | 2005-12-02 | Fuji Heavy Ind Ltd | Autonomous traveling cleaning robot |
| CN105982624A (en) * | 2015-12-30 | 2016-10-05 | 小米科技有限责任公司 | Automatic cleaning equipment and anti-jamming handling method and device for automatic cleaning equipment |
| CN108628312A (en) * | 2018-05-14 | 2018-10-09 | 珠海市微半导体有限公司 | Robot is by the control method and chip of the detection method of card and off card |
| CN109917788A (en) * | 2019-03-13 | 2019-06-21 | 深圳乐动机器人有限公司 | A kind of control method and device of Robot wall walking |
| CN110680243A (en) * | 2019-09-30 | 2020-01-14 | 湖南格兰博智能科技有限责任公司 | Wall-following cleaning control algorithm for floor-sweeping robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102039595B (en) * | 2009-10-09 | 2013-02-27 | 泰怡凯电器(苏州)有限公司 | Self-moving ground handling robot and facing ground handling control method thereof |
-
2020
- 2020-04-22 CN CN202010321838.6A patent/CN111487969B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005332055A (en) * | 2004-05-18 | 2005-12-02 | Fuji Heavy Ind Ltd | Autonomous traveling cleaning robot |
| CN105982624A (en) * | 2015-12-30 | 2016-10-05 | 小米科技有限责任公司 | Automatic cleaning equipment and anti-jamming handling method and device for automatic cleaning equipment |
| CN108628312A (en) * | 2018-05-14 | 2018-10-09 | 珠海市微半导体有限公司 | Robot is by the control method and chip of the detection method of card and off card |
| CN109917788A (en) * | 2019-03-13 | 2019-06-21 | 深圳乐动机器人有限公司 | A kind of control method and device of Robot wall walking |
| CN110680243A (en) * | 2019-09-30 | 2020-01-14 | 湖南格兰博智能科技有限责任公司 | Wall-following cleaning control algorithm for floor-sweeping robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111487969A (en) | 2020-08-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107671862B (en) | Method for processing robot stuck | |
| EP3682784B1 (en) | Method for detecting skidding of robot, mapping method and chip | |
| EP3466314B1 (en) | Cleaning robot and method of surmounting obstacle | |
| AU2016213846B2 (en) | Carpet drift estimation using differential sensors or visual measurements | |
| US11537142B2 (en) | Method for robot repositioning | |
| CN111487969B (en) | Abnormality detection method and processing method for robot to walk along edge in non-parallel manner | |
| US9400501B2 (en) | Simultaneous localization and mapping for a mobile robot | |
| KR100561863B1 (en) | Navigation method and navigation apparatus using virtual sensor for mobile robot | |
| KR101297388B1 (en) | Moving apparatus and method for compensating position | |
| KR101338143B1 (en) | Apparatus and Method for Detecting Slip of a Mobile Robot | |
| KR101008360B1 (en) | Appratus and method of calibration of a gyro sensor in a mobile robot. | |
| US20080154429A1 (en) | Apparatus, method, and medium for distinguishing the movement state of mobile robot | |
| JP2009217333A (en) | Mobile robot and operation control method thereof | |
| CN111481126B (en) | Robot walking along edge abnormity detection method and card-off processing method | |
| US10977946B2 (en) | Vehicle lane change assist improvements | |
| CN112238451A (en) | Slip detection method and device | |
| CN111358374B (en) | Detection method for robot walking along edge grinding bank and blocked detection and processing method | |
| CN111427362B (en) | Abnormality detection method for robot walking along straight edge and card removal processing method | |
| CN111474931B (en) | Abnormality detection method for robot walking along straight edge and card removal processing method | |
| CN114153197B (en) | Method and device for getting rid of poverty of autonomous mobile equipment | |
| CN115990880A (en) | Robot course adjustment method, robot, device and computer storage medium | |
| KR20060099684A (en) | Gyro-scope calibration apparatus and calibration method having the same | |
| JP4234084B2 (en) | Vehicle trajectory estimation device | |
| US20230040180A1 (en) | Grass-cutting robot and control method therefor | |
| JP2006018636A (en) | Obstacle detector and obstacle detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 519000 2706, No. 3000, Huandao East Road, Hengqin new area, Zhuhai, Guangdong Applicant after: Zhuhai Yiwei Semiconductor Co.,Ltd. Address before: Room 105-514, No.6 Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province Applicant before: AMICRO SEMICONDUCTOR Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |