CN112947478A - Robot pole-winding escaping method and device, computer equipment and storage medium - Google Patents
Robot pole-winding escaping method and device, computer equipment and storage medium Download PDFInfo
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- 238000004804 winding Methods 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000010408 sweeping Methods 0.000 claims abstract description 203
- 238000001514 detection method Methods 0.000 claims abstract description 87
- 238000012544 monitoring process Methods 0.000 claims abstract description 54
- 238000011084 recovery Methods 0.000 claims abstract description 6
- 238000004140 cleaning Methods 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 8
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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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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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
- G05D1/0214—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
- 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
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The embodiment of the application belongs to the technical field of robot navigation, and relates to a robot pole-winding escaping method which comprises the steps that in a wall-following state, a sweeping robot repeatedly runs on a coordinate which has already passed, a current coordinate is marked as a detection coordinate, and the robot enters a monitoring state; in the monitoring state, if the sweeping robot repeatedly runs on the passed coordinates, the sweeping robot enters a recovery state; in a reply state, controlling the sweeping robot to run to a detection coordinate, and controlling the sweeping robot to reversely walk along the coordinate before the sweeping robot runs to the detection coordinate for the first time according to the continuously recorded coordinate until collision occurs; and updating the detection coordinates according to the current coordinates, recovering to the wall-following state, entering the monitoring state if the sweeping robot repeatedly runs on the detection coordinates within the preset running distance, and emptying the detection coordinates until the sweeping robot does not repeatedly run within the preset running distance in the wall-following state. This application is along wall success rate height.
Description
Technical Field
The application relates to the technical field of robot navigation, in particular to a method and a device for getting rid of difficulties by winding a column of a robot, computer equipment and a storage medium.
Background
The sweeping robot can independently sweep an area, and manpower consumed by cleaning work is greatly reduced. The sweeping robot traverses an area to be cleaned through map navigation drawn by a user, in the actual working process, the material placement of the area to be cleaned is complex, the traveling of the sweeping robot is easily interfered, in the working process, the sweeping robot needs to enter a wall-following mode to completely clean corner areas of the cleaning area or automatically recharge a seat for charging, in the process, the sweeping robot transmits a signal through a signal transmitter and receives a wall return signal, the robot travels in a manner of keeping parallel to and fitting with a wall according to the signal returned by the wall, therefore, in the state of following the wall, the robot has the probability of traveling to the vicinity of a columnar obstacle near the wall due to interference and deviating from the path of the wall, the columnar obstacle is identified as the wall, the robot walks around the column to be cleaned, and a typical trapped scene comprises thicker table legs, if the winding column is formed in the environment, the sweeping robot can continuously wind the column in a wall-following state, so that the area to be cleaned cannot be cleaned normally.
Disclosure of Invention
The embodiment of the application aims to provide a scheme for controlling a sweeping robot to automatically identify a column winding state and get rid of difficulties in the column winding state.
In order to solve the above technical problem, an embodiment of the present application provides a method for getting rid of difficulty by winding a column by a robot, which adopts the following technical scheme:
the robot pole-winding escaping method comprises the following steps:
continuously recording the coordinates and the advancing direction angle of the sweeping robot in the cleaning area in a wall-following state;
if the sweeping robot repeatedly runs on the passed coordinates, marking the current coordinates as detection coordinates, and entering a monitoring state;
in the monitoring state, if the sweeping robot repeatedly runs on the passed coordinates, the sweeping robot enters a recovery state;
in a reply state, controlling the sweeping robot to run to a detection coordinate, and controlling the sweeping robot to reversely walk along the coordinate before the sweeping robot runs to the detection coordinate for the first time according to the continuously recorded coordinate until collision occurs;
and updating the detection coordinates according to the current coordinates, recovering to the wall-following state, entering the monitoring state if the sweeping robot repeatedly runs on the detection coordinates within the preset running distance, and emptying the detection coordinates until the sweeping robot does not repeatedly run within the preset running distance in the wall-following state.
Further, if the sweeping robot repeatedly runs on the passed coordinates, marking the current coordinates as the detection coordinates, and entering a monitoring state specifically comprises:
acquiring the angle variation of the forward direction of the sweeping robot between two times of appearance of the sweeping robot on the coordinate according to the repeated appearance of the sweeping robot on the coordinate;
determining a winding column of the sweeping robot according to the fact that the angle variation of the forward direction of the sweeping robot is one circle;
marking the current coordinates as detection coordinates and entering a monitoring state.
Further, after obtaining the angle variation of the forward direction of the sweeping robot between two occurrences of the sweeping robot on the coordinate according to the repeated occurrence of the sweeping robot on the coordinate, determining that the sweeping robot is in front of the column winding according to the fact that the angle variation of the forward direction of the sweeping robot is a circle, the method further comprises the following steps;
determining the angle change direction of the robot when the robot winds around the column to be clockwise or anticlockwise according to the wall-following direction of the sweeping robot;
and determining the angle change direction when the angle change quantity is matched with the column winding of the robot according to the angle change quantity of the advancing direction of the sweeping robot.
Further, in the step of returning, the sweeping robot is controlled to run to the detection coordinate, and according to the continuously recorded coordinate, the sweeping robot is controlled to run reversely along the coordinate before the first running to the detection coordinate until after the collision occurs, and the method further includes:
and updating the detection coordinates according to the current coordinates and recovering to the wall-following state, and if the sweeping robot repeatedly runs on passed coordinates within a preset running distance and the current coordinates are inconsistent with the detection coordinates, updating the detection coordinates according to the current coordinates and entering a monitoring state.
In order to solve the above technical problem, an embodiment of the present application further provides a device for getting rid of difficulty by winding a column, which adopts the following technical scheme:
robot around post device of getting rid of poverty includes:
a recording unit: the device is used for continuously recording the coordinates and the advancing direction angle of the sweeping robot in the cleaning area in a wall-following state;
the repeated detection unit is used for marking the current coordinate as a detection coordinate and entering a monitoring state if the sweeping robot repeatedly runs on the passed coordinate;
the position comparison unit is used for entering a return state if the sweeping robot repeatedly runs on the passed coordinates in the monitoring state;
the position reply unit is used for controlling the sweeping robot to run to the detection coordinate in a reply state, and controlling the sweeping robot to reversely run along the coordinate before the sweeping robot runs to the detection coordinate for the first time according to the continuously recorded coordinate until collision occurs;
and the wall following reply unit is used for updating the detection coordinate according to the current coordinate and recovering to the wall following state, if the sweeping robot repeatedly runs on the detection coordinate within the preset running distance, the robot enters the monitoring state until the sweeping robot does not repeatedly run within the preset running distance in the wall following state, and the detection coordinate is emptied.
Further, the position comparison unit specifically includes:
the angle variation acquiring subunit is used for acquiring the angle variation of the forward direction of the sweeping robot between two times of appearance of the sweeping robot on the coordinate according to the repeated appearance of the sweeping robot on the coordinate;
the column winding determining subunit is used for determining the column winding of the sweeping robot according to the fact that the angle variation of the forward direction of the sweeping robot is one circle;
and the monitoring state entering subunit is used for marking the current coordinate as the detection coordinate and entering the monitoring state.
Further, the position comparison unit also comprises;
the direction determining subunit is used for determining that the angle change direction of the robot when the robot winds the column is clockwise or anticlockwise according to the wall-following direction of the sweeping robot;
and the direction comparison subunit is used for determining the angle change direction when the angle change quantity is matched with the column winding of the robot according to the angle change quantity of the advancing direction of the sweeping robot.
Further, the scheme further comprises:
and the detection point adjusting unit is used for updating the detection coordinates according to the current coordinates and recovering to the wall-following state, and if the sweeping robot repeatedly runs on the passed coordinates within the preset running distance and the current coordinates are inconsistent with the detection coordinates, the detection coordinates are updated according to the current coordinates and the sweeping robot enters the monitoring state.
In order to solve the above technical problem, an embodiment of the present application further provides a computer device, which adopts the following technical solutions:
a computer device comprising a memory having a computer program stored therein and a processor that when executed implements the steps of a robot pole-winding escaping method as described above.
In order to solve the above technical problem, an embodiment of the present application further provides a computer-readable storage medium, which adopts the following technical solutions:
a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of a robot pole-winding escaping method as described above.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects: by setting a monitoring state, entering the monitoring state in a state that the sweeping robot appears twice in a coordinate in a cleaning area, then if the monitoring sweeping robot repeatedly walks on the area in the cleaning area continuously, indicating that the sweeping robot enters a circular path, at the moment, turning the sweeping robot into a return state, and in the return state, controlling the sweeping robot to return along the original path according to the recorded path at the monitoring coordinate, trying to switch back to a wall-following state when collision occurs, because a collision point is also on the recorded path, if column winding still occurs, taking the collision point as a new detection coordinate, continuing returning along the original path before the sweeping robot enters the monitoring state until the collision occurs between the sweeping robot and the wall, at the moment, according to a wall-following strategy, the sweeping robot can continue to follow the wall-following from a place where the wall is separated, the mode of the sweeping robot along the wall is the same as that of the sweeping robot along the wall, a complete closed track along the wall can be formed, the sweeping robot can get rid of the trouble in the state of the sweeping robot along the wall, the completeness of the motion along the wall is realized, and the navigation success rate of the sweeping robot is high.
Drawings
In order to more clearly illustrate the solution of the present application, the drawings needed for describing the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a flow chart of one embodiment of a robot around a post escaping method according to the present application;
FIG. 2 is a schematic structural view of one embodiment of a robot around a post escaping device according to the present application;
FIG. 3 is a schematic block diagram of one embodiment of a computer device according to the present application.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
With continued reference to fig. 1, a flow diagram of one embodiment of a robot around a post escaping method according to the present application is shown. The robot pole-winding escaping method comprises the following steps:
step S100: continuously recording the coordinates and the advancing direction angle of the sweeping robot in the cleaning area in a wall-following state;
step S200: if the sweeping robot repeatedly runs on the passed coordinates, marking the current coordinates as detection coordinates, and entering a monitoring state;
step S300: in the monitoring state, if the sweeping robot repeatedly runs on the passed coordinates, the sweeping robot enters a recovery state;
step S400: in a reply state, controlling the sweeping robot to run to a detection coordinate, and controlling the sweeping robot to reversely walk along the coordinate before the sweeping robot runs to the detection coordinate for the first time according to the continuously recorded coordinate until collision occurs;
step S500: and updating the detection coordinates according to the current coordinates, recovering to the wall-following state, entering the monitoring state if the sweeping robot repeatedly runs on the detection coordinates within the preset running distance, and emptying the detection coordinates until the sweeping robot does not repeatedly run within the preset running distance in the wall-following state.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects: by setting a monitoring state, entering the monitoring state in a state that the sweeping robot appears twice in a coordinate in a cleaning area, then if the monitoring sweeping robot repeatedly walks on the area in the cleaning area continuously, indicating that the sweeping robot enters a circular path, at the moment, turning the sweeping robot into a return state, and in the return state, controlling the sweeping robot to return along the original path according to the recorded path at the monitoring coordinate, trying to switch back to a wall-following state when collision occurs, because a collision point is also on the recorded path, if column winding still occurs, taking the collision point as a new detection coordinate, continuing returning along the original path before the sweeping robot enters the monitoring state until the collision occurs between the sweeping robot and the wall, at the moment, according to a wall-following strategy, the sweeping robot can continue to follow the wall-following from a place where the wall is separated, and the wall following mode is the same as the previous mode, so that a complete closed wall following track can be formed, a running distance is preset, and when the running distance of the sweeping robot in the wall following state exceeds the preset running distance, the sweeping robot is completely restored to the wall following state, the detection coordinate is deleted, and the sweeping robot is operated to normally run. According to the scheme, the sweeping robot can get rid of difficulties in the state of being along the wall, the integrity of the movement along the wall is realized, and the navigation success rate of the scheme is high.
Further, the step S200: if the sweeping robot repeatedly runs on the passed coordinates, marking the current coordinates as the detection coordinates and entering a monitoring state, specifically comprising:
step S201: acquiring the angle variation of the forward direction of the sweeping robot between two times of appearance of the sweeping robot on the coordinate according to the repeated appearance of the sweeping robot on the coordinate;
step S204: determining a winding column of the sweeping robot according to the fact that the angle variation of the forward direction of the sweeping robot is one circle;
step S205: marking the current coordinates as detection coordinates and entering a monitoring state.
Specifically, in the case of a wall-following state in a small area, for example, a recessed portion is formed in some rooms in which the distance between the load-bearing pillar and the wall is short. Under the condition that the coordinate precision used for navigation is limited, the sweeping robot can pass through the same coordinate repeatedly in the process of wall following, at the moment, the sweeping robot is judged to run repeatedly on the same coordinate at first, and then when the sweeping robot passes through the same coordinate twice, the rotation angle of the sweeping robot accumulated by the gyroscope is judged, if the sweeping robot winds the column, when the sweeping robot passes through the same coordinate twice, the gyroscope is driven to rotate for one circle at least, so that whether the sweeping robot is trapped around the column or not can be accurately distinguished.
Further, the step S201: after the angle variation of the forward direction of the sweeping robot between two occurrences of the sweeping robot on the coordinate is obtained according to the repeated occurrence of the sweeping robot on the coordinate, step S204: determining that the sweeping robot is in front of a winding column according to the fact that the angle variation of the forward direction of the sweeping robot is one circle;
step S202: determining the angle change direction of the robot when the robot winds around the column to be clockwise or anticlockwise according to the wall-following direction of the sweeping robot;
step S203: and determining the angle change direction when the angle change quantity is matched with the column winding of the robot according to the angle change quantity of the advancing direction of the sweeping robot.
For a part of cleaning area areas with narrow outlets, the sweeping robot enters the area, follows a wall, and then leaves the cleaning area from the outlet, and a column winding misjudgment may occur, for example, if the wall is on the left side of the advancing direction of the sweeping robot, when the sweeping robot winds the column, the rotation of the sweeping robot detected by the gyroscope should be anticlockwise rotation; similarly, the wall is on the left side of the forward direction of the sweeping robot, and if the sweeping robot rotates clockwise, it means that even if the rotation angle of the sweeping robot reaches one circle, the sweeping robot does the wall-following motion around an area instead of the column-following motion. For the situation, firstly, the direction of the sweeping robot along the wall is judged, in an embodiment, the wall is on the left side of the advancing direction of the sweeping robot, then, when the sweeping robot repeatedly runs at the same coordinate and the gyroscope rotates for one week in an accumulated mode, the sweeping robot is judged to see the changed direction, if the sweeping robot rotates in the clockwise direction, the sweeping robot normally walks along the wall in a narrow and small cleaning area, and only when the sweeping robot rotates for one week in the anticlockwise direction, the sweeping robot is trapped around the column. The scheme is favorable for accurately identifying whether the sweeping robot is trapped around the column.
Further, the step S400: in a return state, controlling the sweeping robot to run to a detection coordinate, and controlling the sweeping robot to reversely walk along the coordinate before the first running to the detection coordinate according to the continuously recorded coordinate until after collision occurs, wherein the method further comprises the following steps:
step S600: and updating the detection coordinates according to the current coordinates and recovering to the wall-following state, and if the sweeping robot repeatedly runs on passed coordinates within a preset running distance and the current coordinates are inconsistent with the detection coordinates, updating the detection coordinates according to the current coordinates and entering a monitoring state.
The scheme is favorable for the floor sweeping robot to get stuck and get rid of the trouble around the column continuously in the wall following process, and the detection coordinate is adjusted under the state of getting stuck again, so that the success rate of the floor sweeping robot getting rid of the trouble around the column is enhanced.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).
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.
With further reference to fig. 2, as an implementation of the method shown in fig. 1, the present application provides an embodiment of a robot around-post escaping device, which corresponds to the embodiment of the method shown in fig. 1, and which can be applied in various electronic devices.
Robot around post device of getting rid of poverty includes:
the recording unit 100: the device is used for continuously recording the coordinates and the advancing direction angle of the sweeping robot in the cleaning area in a wall-following state;
the repeated detection unit 200 is used for marking the current coordinate as a detection coordinate and entering a monitoring state if the sweeping robot repeatedly runs on the passed coordinate;
the position comparison unit 300 is used for entering a recovery state if the sweeping robot repeatedly runs on the passed coordinates in the monitoring state;
the position reply unit 400 is used for controlling the sweeping robot to run to the detection coordinate in a reply state, and controlling the sweeping robot to reversely run along the coordinate before the sweeping robot runs to the detection coordinate for the first time according to the continuously recorded coordinate until collision occurs;
and the wall-following replying unit 500 is used for updating the detection coordinate according to the current coordinate and recovering to the wall-following state, if the sweeping robot repeatedly runs on the detection coordinate within the preset running distance, the monitoring state is entered until the sweeping robot does not repeatedly run within the preset running distance in the wall-following state, and the detection coordinate is emptied.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects: by setting a monitoring state, entering the monitoring state in a state that the sweeping robot appears twice in a coordinate in a cleaning area, then if the monitoring sweeping robot repeatedly walks on the area in the cleaning area continuously, indicating that the sweeping robot enters a circular path, at the moment, turning the sweeping robot into a return state, and in the return state, controlling the sweeping robot to return along the original path according to the recorded path at the monitoring coordinate, trying to switch back to a wall-following state when collision occurs, because a collision point is also on the recorded path, if column winding still occurs, taking the collision point as a new detection coordinate, continuing returning along the original path before the sweeping robot enters the monitoring state until the collision occurs between the sweeping robot and the wall, at the moment, according to a wall-following strategy, the sweeping robot can continue to follow the wall-following from a place where the wall is separated, and the wall following mode is the same as the previous mode, so that a complete closed wall following track can be formed, a running distance is preset, and when the running distance of the sweeping robot in the wall following state exceeds the preset running distance, the sweeping robot is completely restored to the wall following state, the detection coordinate is deleted, and the sweeping robot is operated to normally run. According to the scheme, the sweeping robot can get rid of difficulties in the state of being along the wall, the integrity of the movement along the wall is realized, and the navigation success rate of the scheme is high.
Further, the position comparing unit 200 specifically includes:
the angle variation acquiring subunit 201 is configured to acquire, according to repeated appearance of the sweeping robot on one coordinate, an angle variation of a forward direction of the sweeping robot between two appearance of the sweeping robot on the coordinate;
the column winding determining subunit 204 is configured to determine that the sweeping robot winds the column according to that the angle variation of the forward direction of the sweeping robot is one circle;
the monitoring state entering subunit 205 is configured to mark the current coordinate as the detection coordinate, and enter the monitoring state.
Further, the position comparison unit 200 further includes;
the direction determining subunit 203 is configured to determine, according to the wall-following direction of the sweeping robot, that the angle change direction of the robot when winding around the column is clockwise or counterclockwise;
and the direction comparison subunit 203 is configured to determine, according to the angle variation of the forward direction of the sweeping robot, an angle variation direction when the angle variation matches the column winding direction of the robot.
Further, the scheme further comprises:
and the detection point adjusting unit 600 is configured to update the detection coordinates according to the current coordinates and restore to the along-the-wall state, and if the sweeping robot repeatedly runs on the passed coordinates within the preset running distance and the current coordinates are inconsistent with the detection coordinates, update the detection coordinates according to the current coordinates and enter the monitoring state.
In order to solve the technical problem, an embodiment of the present application further provides a computer device. Referring to fig. 3, fig. 3 is a block diagram of a basic structure of a computer device according to the present embodiment.
The computer device 6 comprises a memory 61, a processor 62, a network interface 63 communicatively connected to each other via a system bus. It is noted that only a computer device 6 having components 61-63 is shown, but it is understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead. As will be understood by those skilled in the art, the computer device is a device capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The computer device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The computer equipment can carry out man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch panel or voice control equipment and the like.
The memory 61 includes at least one type of readable storage medium including a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 61 may be an internal storage unit of the computer device 6, such as a hard disk or a memory of the computer device 6. In other embodiments, the memory 61 may also be an external storage device of the computer device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the computer device 6. Of course, the memory 61 may also comprise both an internal storage unit of the computer device 6 and an external storage device thereof. In this embodiment, the memory 61 is generally used for storing an operating system installed in the computer device 6 and various application software, such as a program code of a robot pole-winding escaping method. Further, the memory 61 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 62 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor, or other data Processing chip in some embodiments. The processor 62 is typically used to control the overall operation of the computer device 6. In this embodiment, the processor 62 is configured to run a program code stored in the memory 61 or process data, for example, a program code for running the robot pole-winding escaping method.
The network interface 63 may comprise a wireless network interface or a wired network interface, and the network interface 63 is typically used for establishing a communication connection between the computer device 6 and other electronic devices.
The present application further provides another embodiment, which is to provide a computer-readable storage medium storing a robot pole-winding escaping program, where the robot pole-winding escaping program is executable by at least one processor to cause the at least one processor to execute the steps of the robot pole-winding escaping method as described above.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.
Claims (10)
1. The robot pole-winding escaping method is characterized by comprising the following steps:
continuously recording the coordinates and the advancing direction angle of the sweeping robot in the cleaning area in a wall-following state;
if the sweeping robot repeatedly runs on the passed coordinates, marking the current coordinates as detection coordinates, and entering a monitoring state;
in the monitoring state, if the sweeping robot repeatedly runs on the passed coordinates, the sweeping robot enters a recovery state;
in a reply state, controlling the sweeping robot to run to a detection coordinate, and controlling the sweeping robot to reversely walk along the coordinate before the sweeping robot runs to the detection coordinate for the first time according to the continuously recorded coordinate until collision occurs;
and updating the detection coordinates according to the current coordinates, recovering to the wall-following state, entering the monitoring state if the sweeping robot repeatedly runs on the detection coordinates within the preset running distance, and emptying the detection coordinates until the sweeping robot does not repeatedly run within the preset running distance in the wall-following state.
2. The method for getting rid of trouble around a pole by a robot according to claim 1, wherein the step of marking the current coordinate as the detection coordinate and entering the monitoring state if the sweeping robot repeatedly runs on the already passed coordinate comprises the following specific steps:
acquiring the angle variation of the forward direction of the sweeping robot between two times of appearance of the sweeping robot on the coordinate according to the repeated appearance of the sweeping robot on the coordinate;
determining a winding column of the sweeping robot according to the fact that the angle variation of the forward direction of the sweeping robot is one circle;
marking the current coordinates as detection coordinates and entering a monitoring state.
3. The pole-winding escaping method of the robot as claimed in claim 2, wherein the step comprises the steps of obtaining the angle variation of the forward direction of the sweeping robot between two occurrences of the sweeping robot on the coordinate according to the repeated occurrence of the sweeping robot on the coordinate, and determining the time before the pole winding of the sweeping robot according to the angle variation of the forward direction of the sweeping robot being one week;
determining the angle change direction of the robot when the robot winds around the column to be clockwise or anticlockwise according to the wall-following direction of the sweeping robot;
and determining the angle change direction when the angle change quantity is matched with the column winding of the robot according to the angle change quantity of the advancing direction of the sweeping robot.
4. The method for robot to get rid of the trouble around the column as claimed in claim 1, wherein the step of controlling the sweeping robot to run to the detection coordinates in the recovery state, and controlling the sweeping robot to run reversely along the coordinates before the first run to the detection coordinates according to the coordinates recorded continuously until after the collision, further comprises:
and updating the detection coordinates according to the current coordinates and recovering to the wall-following state, and if the sweeping robot repeatedly runs on passed coordinates within a preset running distance and the current coordinates are inconsistent with the detection coordinates, updating the detection coordinates according to the current coordinates and entering a monitoring state.
5. Robot is around post device of getting rid of poverty, its characterized in that includes:
a recording unit: the device is used for continuously recording the coordinates and the advancing direction angle of the sweeping robot in the cleaning area in a wall-following state;
the repeated detection unit is used for marking the current coordinate as a detection coordinate and entering a monitoring state if the sweeping robot repeatedly runs on the passed coordinate;
the position comparison unit is used for entering a return state if the sweeping robot repeatedly runs on the passed coordinates in the monitoring state;
the position reply unit is used for controlling the sweeping robot to run to the detection coordinate in a reply state, and controlling the sweeping robot to reversely run along the coordinate before the sweeping robot runs to the detection coordinate for the first time according to the continuously recorded coordinate until collision occurs;
and the wall following reply unit is used for updating the detection coordinate according to the current coordinate and recovering to the wall following state, if the sweeping robot repeatedly runs on the detection coordinate within the preset running distance, the robot enters the monitoring state until the sweeping robot does not repeatedly run within the preset running distance in the wall following state, and the detection coordinate is emptied.
6. The robot around-post escaping device of claim 5, wherein the position comparison unit specifically comprises:
the angle variation acquiring subunit is used for acquiring the angle variation of the forward direction of the sweeping robot between two times of appearance of the sweeping robot on the coordinate according to the repeated appearance of the sweeping robot on the coordinate;
the column winding determining subunit is used for determining the column winding of the sweeping robot according to the fact that the angle variation of the forward direction of the sweeping robot is one circle;
and the monitoring state entering subunit is used for marking the current coordinate as the detection coordinate and entering the monitoring state.
7. The robot around-post escaping device of claim 6, wherein the position comparison unit further comprises;
the direction determining subunit is used for determining that the angle change direction of the robot when the robot winds the column is clockwise or anticlockwise according to the wall-following direction of the sweeping robot;
and the direction comparison subunit is used for determining the angle change direction when the angle change quantity is matched with the column winding of the robot according to the angle change quantity of the advancing direction of the sweeping robot.
8. The robot around-post escaping device of claim 5, wherein the scheme further comprises:
and the detection point adjusting unit is used for updating the detection coordinates according to the current coordinates and recovering to the wall-following state, and if the sweeping robot repeatedly runs on the passed coordinates within the preset running distance and the current coordinates are inconsistent with the detection coordinates, the detection coordinates are updated according to the current coordinates and the sweeping robot enters the monitoring state.
9. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that: the processor, when executing the computer program, implements the steps of the robot pole-winding escaping method of any one of claims 1 to 4.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the robot pole-winding escaping method according to any one of claims 1 to 4.
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