CN117193310A - Mobile robot obstacle detouring method, seat returning method, chip and mobile robot - Google Patents
Mobile robot obstacle detouring method, seat returning method, chip and mobile robot Download PDFInfo
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Abstract
The application provides a mobile robot obstacle detouring method, a seat returning method, a chip and a mobile robot, when the mobile robot encounters an obstacle, the mobile robot can purposefully and quickly pass through a complex environment in a beacon setting mode, and the obstacle detouring efficiency and success rate are improved. In the obstacle detouring process, the mobile robot further performs real-time scene analysis, obstacle detouring is realized by means of dynamic change open areas distributed around the mobile robot, a history map is not needed to be relied on, real-time flexibility is high, a good processing effect can be achieved on an unknown environment, and obstacle detouring efficiency and success rate are further improved.
Description
Technical Field
The application relates to the field of intelligent mobile robots, in particular to a mobile robot obstacle detouring method, a seat returning method, a chip and a mobile robot.
Background
The sweeping robot is intelligent household cleaning equipment, and can supply energy according to batteries assembled by the sweeping robot, so that wireless cleaning work is realized. When the electric energy of the battery is reduced and charging is needed, the robot searches the charging seat and automatically returns to the charging seat for charging. When the robot detects the middle guide signal of the charging seat and moves along the middle guide signal, if an obstacle is detected, the robot generally walks along the edge of the obstacle until the middle guide signal is detected again, and then walks along the middle guide signal continuously. This mode is comparatively single, and the efficiency of returning to the seat of robot is comparatively low.
Therefore, the inventor discloses an obstacle avoidance method and chip for robot seat returning and an autonomous mobile robot, see CN109407675B, when the robot returns along the middle guide signal and detects an obstacle, the previous walking record information is analyzed, and under the condition that the obstacle information is obtained, the robot bypasses the obstacle and reaches the target point quickly by adopting a navigation walking mode, so that the seat returning efficiency of the robot is improved. Under the condition of no obstacle information, by setting the target point, the robot can have accurate targeting when walking along the edge, the pertinence of the robot seat returning can be improved, and the situation that the robot walks wrong under the condition of poor seat returning signals is avoided.
However, in the above technical solution, the robot judges the edge direction based on the collision sensor, has strong randomness, does not perform scene analysis, and affects the seating success rate of the robot. In addition, the technical scheme uses a navigation mode to reach the target point, but the map information of the surrounding environment is needed, the positioning information is required to be very accurate, the use is limited to a certain extent, the setting of the target point is random, and the seating return efficiency of the robot is affected.
Disclosure of Invention
The application provides a mobile robot obstacle detouring method, a seat returning method, a chip and a mobile robot, and the specific technical scheme is as follows:
a mobile robot obstacle detouring method, the obstacle detouring method comprising the steps of: step S1, judging whether an obstacle is detected or not in the working process of the mobile robot, if not, continuing to work, and if so, entering step S2; step S2, the mobile robot obtains the current pose of the mobile robot, and then a beacon is arranged at a position which is a first preset distance away from the mobile robot; step S3, the mobile robot moves and performs scene analysis to obtain the position of an open area in real time, and then performs obstacle detouring through the open area until reaching a beacon; the open area is an area which takes the mobile robot as a center and is distributed around the mobile robot and can be used for the mobile robot to pass through, and the position of the open area is dynamically changed.
Further, in the step S2, the method for setting a beacon includes: the mobile robot acquires its current pose robot _ phase (x, y, angle), calculates coordinates beacon _ phase (x, y) of the beacon based on the trigonometric function,
beacon_pose.x = distance*cosf(robot_pose.angle) + robot_pose.x，
beacon_pose.y = distance*sinf(robot_pose.angle) + robot_pose.y，
wherein distance represents a first predetermined distance.
Further, in the step S3, the method for obtaining the position of the open area by the mobile robot includes: step S31, the mobile robot takes the mobile robot as a center, and the periphery of the mobile robot is equally divided into sector areas with preset quantity; step S32, the mobile robot collects laser point clouds closest to the mobile robot in each sector area through a laser radar and calculates the distance; step S33, the mobile robot judges that if the distance between the nearest laser point cloud of the mobile robot in a sector area is larger than a preset value, the sector area is considered to be an open area, otherwise, the sector area is considered to have an obstacle.
Further, in the step S31, the mobile robot is centered on itself, and the periphery of the mobile robot is equally divided into 12 sector areas according to the clock direction with the head direction as the starting direction.
Further, in the step S3, the method for the mobile robot to perform obstacle detouring through the open area includes: step S34, the mobile robot takes the head direction of the mobile robot as the initial direction, and simultaneously starts to search for an open area towards the left direction and the right direction; step S35, stopping searching when the mobile robot searches for an open area in any direction, if only one open area is searched, performing obstacle detouring through the open area by the mobile robot, and if one open area is searched in the left and right directions, entering step S36; and S36, the mobile robot judges the direction of the beacon, and then selects an open area with the same direction as the beacon to perform obstacle detouring.
Further, the obstacle detouring method further comprises: s4, after the mobile robot sets the beacon, taking the beacon as an intersection point, and making a vertical line on the connection line of the mobile robot and the beacon; and S5, in the obstacle detouring process of the mobile robot, if the mobile robot passes over the vertical line, setting a new beacon at a position which is at a second preset distance from the mobile robot, and detouring based on the new beacon.
A mobile robot backseat method, the backseat method comprises the mobile robot obstacle detouring method, and the backseat method further comprises: the mobile robot returns to the charging seat along a recharging signal sent by the charging seat, judges whether an obstacle is detected, if not, continues to move, and if so, performs obstacle detouring; in the obstacle detouring process, whether a recharging signal is received or not is judged in real time, if yes, the seat is returned along the recharging signal, and if no, obstacle detouring is continued.
The chip comprises program instructions for controlling the mobile robot to execute the mobile robot obstacle detouring method or the mobile robot seat returning method.
A mobile robot equipped with said chip.
According to the obstacle detouring method of the mobile robot, when the mobile robot encounters an obstacle, the mobile robot can purposefully and quickly pass through a complex environment in a beacon setting mode, and the obstacle detouring efficiency and success rate are improved. In the obstacle detouring process, the mobile robot further performs real-time scene analysis, obstacle detouring is realized by means of dynamic change open areas distributed around the mobile robot, a history map is not needed to be relied on, real-time flexibility is high, a good processing effect can be achieved on an unknown environment, and obstacle detouring efficiency and success rate are further improved.
Drawings
Fig. 1 is a schematic flow chart of a mobile robot obstacle detouring method according to an embodiment of the application.
Fig. 2 is a schematic diagram of a moving scene of a mobile robot according to an embodiment of the application.
Fig. 3 is a schematic diagram of beaconing in a moving scene of a mobile robot according to an embodiment of the present application.
Fig. 4 is a schematic view of an open area distributed around a mobile robot according to an embodiment of the present application.
Fig. 5 is a schematic diagram of a motion track of a mobile robot obstacle detouring according to an embodiment of the application.
Fig. 6 is a schematic diagram of a mobile robot crossing a beacon according to an embodiment of the application.
Description of the embodiments
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It should also be understood that the term "and/or" as used in this disclosure refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this disclosure, the term "if" may be interpreted as "when …" or "upon" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application, the terms "first," "second," "third," etc. are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The recharging national standard test of the sweeping robot specifies that: in an open environment of 5m and 3m, placing the machine at a position 1M/2M away from the charging pile, selecting 4 directions at 5 test points, and starting recharging; the rules of use of the sweeping robot specify: the charging pile is placed at the room open position, and the left and right 0.5m and the front 1.5m of the charging pile are ensured to be free of barriers as much as possible. It is easy to see that a larger open space is needed when the sweeping robot is recharged. However, small house is mainly used in China, so that a large space is not available in many user families, the actual environment is intricate and complex, and the recharging difficulty is increased intangibly. The sweeping robot is difficult to recharge in a complex environment, has poor user experience, and belongs to the industry difficult problem. At the point of sale, this problem often occupies the large head of product complaints and returns.
Therefore, the inventor discloses an obstacle avoidance method and chip for robot seat returning and an autonomous mobile robot, see CN109407675B, when the robot returns along the middle guide signal and detects an obstacle, the previous walking record information is analyzed, and under the condition that the obstacle information is obtained, the robot bypasses the obstacle and reaches the target point quickly by adopting a navigation walking mode, so that the seat returning efficiency of the robot is improved. Under the condition of no obstacle information, by setting the target point, the robot can have accurate targeting when walking along the edge, the pertinence of the robot seat returning can be improved, and the situation that the robot walks wrong under the condition of poor seat returning signals is avoided.
However, in the above technical solution, the robot judges the edge direction based on the collision sensor, has strong randomness, does not perform scene analysis, and affects the seating success rate of the robot. In addition, the technical scheme uses a navigation mode to reach the target point, but the map information of the surrounding environment is needed, the positioning information is required to be very accurate, the use is limited to a certain extent, the setting of the target point is random, and the seating return efficiency of the robot is affected.
In order to solve the problems, the embodiment of the application provides a mobile robot obstacle detouring method, which enables a mobile robot to purposefully and quickly pass through a complex environment by arranging a beacon when the mobile robot encounters an obstacle, thereby improving obstacle detouring efficiency and success rate. In the obstacle detouring process, the mobile robot further performs real-time scene analysis, obstacle detouring is realized by means of dynamic change open areas distributed around the mobile robot, a history map is not needed to be relied on, real-time flexibility is high, a good processing effect can be achieved on an unknown environment, and obstacle detouring efficiency and success rate are further improved.
As shown in fig. 1, the obstacle detouring method comprises the following steps:
step S1, judging whether an obstacle is detected or not in the working process of the mobile robot, if not, continuing to work, and if so, entering step S2;
step S2, the mobile robot obtains the current pose of the mobile robot, and then a beacon is arranged at a position which is a first preset distance away from the mobile robot;
step S3, the mobile robot moves and performs scene analysis to obtain the position of an open area in real time, and then performs obstacle detouring through the open area until reaching a beacon;
the open area is an area which takes the mobile robot as a center and is distributed around the mobile robot and can be used for the mobile robot to pass through, and the position of the open area is dynamically changed.
Referring to fig. 2, the mobile robot encounters an obstacle during a recharging process or a process of going to a destination, resulting in the mobile robot not being able to move according to an original movement trajectory. At this time, the obstacle needs to be bypassed before going to the destination, but the movement track is changed. In order to avoid the situation that the mobile robot walks wrong or is lost after the movement track is changed, a beacon is set to serve as a destination of obstacle detouring, and target guidance is provided for obstacle detouring.
As one embodiment, in the step S2, the method for setting a beacon includes: the mobile robot acquires its current pose robot _ phase (x, y, angle), calculates coordinates beacon _ phase (x, y) of the beacon based on the trigonometric function,
beacon_pose.x = distance*cosf(robot_pose.angle) + robot_pose.x，
beacon_pose.y = distance*sinf(robot_pose.angle) + robot_pose.y，
the distance represents a first preset distance, and the distance can be a fixed value or the size of a current obstacle estimated by the mobile robot, and the cosf function and the sinf function are standard C library functions. Referring to fig. 3, based on the above formula, the mobile robot is provided with a beacon in a motion scene, so that the mobile robot purposefully and rapidly passes through a complex environment, and obstacle detouring efficiency and success rate are improved.
Based on the above embodiment, the mobile robot sets a beacon as the obstacle detouring destination, and then needs to plan a path to move to the beacon. In order to get rid of the dependence of the mobile robot on the map, the embodiment of the application adopts a fuzzy obstacle-detouring mode to lead the mobile robot to go to the beacon. Specifically, according to the data of the laser radar, the mobile robot performs scene analysis on the surrounding environment, so that the mobile robot moves forward to an efficient path, namely, to an open area, and the break in a narrow environment is reduced.
As one embodiment, in the step S3, the method for obtaining the position of the open area by the mobile robot includes: step S31, the mobile robot takes the mobile robot as a center, and the periphery of the mobile robot is equally divided into sector areas with preset quantity; step S32, the mobile robot collects laser point clouds closest to the mobile robot in each sector area through a laser radar and calculates the distance; step S33, the mobile robot judges that if the distance between the nearest laser point cloud of the mobile robot in a sector area is larger than a preset value, the sector area is considered to be an open area, otherwise, the sector area is considered to have an obstacle. The mobile robot analyzes the surrounding environment in real time through the laser radar, does not need to rely on a historical map to conduct navigation or path planning, and can also play a good obstacle-detouring effect in an unknown environment.
In the process of executing step S31, referring to fig. 4, the mobile robot is centered on itself, and the periphery of the mobile robot is equally divided into 12 sector areas according to the clock direction with its head orientation (i.e., the direction of the connection line between the mobile robot and the beacon in fig. 4) as the starting direction, wherein the head orientation is 12 o' clock. Then, the laser point cloud closest to the mobile robot in each area is taken and screened, and if the distance is greater than 1 meter, the area is considered as an open area. Taking fig. 4 as an example, 7 areas from the 1 o 'clock direction to the 8 o' clock direction are open areas, and the rest areas are areas with obstacles.
As one embodiment, in the step S3, the method for performing obstacle detouring by the mobile robot through the open area includes: step S34, the mobile robot takes the head direction of the mobile robot as the initial direction, and simultaneously starts to search for an open area towards the left direction and the right direction; step S35, stopping searching when the mobile robot searches for an open area in any direction, if only one open area is searched, performing obstacle detouring through the open area by the mobile robot, and if one open area is searched in the left and right directions, entering step S36; and S36, the mobile robot judges the direction of the beacon, and then selects an open area with the same direction as the beacon to perform obstacle detouring. The obstacle is wound through the open area or the open area in the same direction as the beacon, so that the mobile robot can quickly pass through the obstacle area, and the obstacle winding efficiency and success rate are improved.
Referring to fig. 4, an obstacle is detected in the movement direction of the mobile robot, and the movement direction needs to be readjusted. The mobile robot searches from the 12 o ' clock direction to both sides, and finds that obstacles exist in the 12 o ' clock direction to the 1 o ' clock direction and in the 12 o ' clock direction to the 11 o ' clock direction. The mobile robot then continues to search for obstacles in the 11 o 'clock to 10 o' clock direction, while the 1 o 'clock to 2 o' clock direction is an open area. The mobile robot finds the passable area, stops searching, then rotates clockwise, and performs obstacle detouring from the 1 o 'clock direction to the 2 o' clock direction in the open area. After the mobile robot rotates, the head orientation changes, and thus, the respective clock orientations change. In the present application, the nose is always oriented in the 12 o 'clock direction, so that the position of the obstacle in the 12 o' clock to 11 o 'clock direction is changed after rotation, and the position after the change is near the 10 o' clock direction. According to the method provided by the embodiment of the application, the search is performed from the 12 o' clock direction to two sides, so that the open area closest to the current machine head direction is found, the efficient movement direction is provided for the mobile robot, and the obstacle detouring efficiency is improved.
Referring also to fig. 4, the mobile robot moves forward after rotating, and simultaneously performs scene analysis in real time to obtain the dynamically changing position of the open area and the position of the obstacle. It is envisioned that the 12 o' clock left and right adjacent areas after rotation are open areas. In order to be able to reach the beacon smoothly, the mobile robot selects an open area in the 11 o' clock direction in combination with the position of the beacon, rotates again and advances until the beacon is reached. Referring to fig. 5, the mobile robot continuously changes its own movement direction according to the dynamically changed position of the open area and the position of the obstacle, and finally successfully realizes obstacle detouring.
As one embodiment, the obstacle detouring method further comprises: s4, after the mobile robot sets the beacon, taking the beacon as an intersection point, and making a vertical line on the connection line of the mobile robot and the beacon; and S5, in the obstacle detouring process of the mobile robot, if the mobile robot passes over the vertical line, setting a new beacon at a position which is at a second preset distance from the mobile robot, and detouring based on the new beacon. The mobile robot passes the vertical line, which indicates that the beacon point cannot be reached, so that a new beacon is set to provide obstacle detouring guidance for the mobile robot again. Referring to fig. 6, if the first preset distance is improperly set, a beacon may be caused to appear in the obstacle region, resulting in the mobile robot not being reachable. So that when the mobile robot passes over the vertical, a new beacon point is reset taking a larger value, for example twice the first preset distance. It should be noted that, the setting of the new beacon point still uses the pose of the mobile robot when the old beacon point is set, so that the position of the new beacon point is forward in the original direction.
The embodiment of the application provides a mobile robot seat returning method, which comprises the mobile robot obstacle detouring method, and further comprises the following steps: the mobile robot returns to the charging seat along a recharging signal sent by the charging seat, judges whether an obstacle is detected, if not, continues to move, and if so, performs obstacle detouring; in the obstacle detouring process, whether a recharging signal is received or not is judged in real time, if yes, the seat is returned along the recharging signal, and if no, obstacle detouring is continued. Referring to fig. 6, in the obstacle detouring process, if the mobile robot does not reach the beacon point yet but receives the recharging signal, the base can be directly returned according to the recharging signal, and the beacon is set for the most important purpose of enabling the mobile robot to have a moving target, not to run out to other places and not to be controlled, so that the beacon point is not necessarily reached. If the obstacle appears again before returning to the seat, the obstacle is continuously wound by the obstacle winding method, and the mobile robot is continuously made to approach to the charging seat through dynamic fumbling. According to the mobile robot seat returning method, when the mobile robot encounters an obstacle in the seat returning process, the mobile robot can purposefully and quickly pass through a complex environment in a beacon setting mode, and the seat returning efficiency and success rate are improved.
The embodiment of the application provides a chip which comprises program instructions, wherein the program instructions are used for controlling a mobile robot to execute the mobile robot obstacle detouring method or the mobile robot seat returning method. When the chip enables the mobile robot to meet the obstacle, the mobile robot can purposefully and quickly pass through the complex environment in a beacon setting mode, and the obstacle-detouring or seat-returning efficiency and success rate are improved. In the obstacle detouring process, the mobile robot further performs real-time scene analysis, obstacle detouring is realized by means of dynamic change open areas distributed around the mobile robot, a history map is not needed to be relied on, real-time flexibility is high, a good treatment effect can be achieved on an unknown environment, and the obstacle detouring or seat returning efficiency and success rate are further improved.
The embodiment of the application provides a mobile robot, which is provided with the chip. When the mobile robot encounters an obstacle, the mobile robot can purposefully and quickly pass through a complex environment in a beacon setting mode, so that the obstacle-detouring or seat-returning efficiency and success rate are improved. In the obstacle detouring process, the mobile robot further performs real-time scene analysis, obstacle detouring is realized by means of dynamic change open areas distributed around the mobile robot, a history map is not needed to be relied on, real-time flexibility is high, a good treatment effect can be achieved on an unknown environment, and the obstacle detouring or seat returning efficiency and success rate are further improved.
Those skilled in the art will appreciate that implementing all or part of the above described embodiment methods may be accomplished by way of a computer program stored in a non-transitory computer readable storage medium, which when executed, may comprise the steps of embodiments of the above described methods. References to memory, storage, databases, or other media used in various embodiments provided herein may include non-volatile and/or volatile memory. The non-volatile memory may include read-only memory ROM, programmable memory PROM, electrically programmable memory DPROM, electrically erasable programmable memory DDPROM, or flash memory. Volatile memory can include random access memory RAM or external cache memory.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing embodiments are merely representative of several embodiments of the application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application.
Claims (9)
1. A mobile robot obstacle detouring method, characterized in that the obstacle detouring method comprises the steps of:
step S1, judging whether an obstacle is detected or not in the working process of the mobile robot, if not, continuing to work, and if so, entering step S2;
step S2, the mobile robot obtains the current pose of the mobile robot, and then a beacon is arranged at a position which is a first preset distance away from the mobile robot;
step S3, the mobile robot moves and performs scene analysis to obtain the position of the open area in real time, and then passes through
The open area is closed to the obstacle until reaching the beacon;
the open area is an area which takes the mobile robot as a center and is distributed around the mobile robot and can be used for the mobile robot to pass through, and the position of the open area is dynamically changed.
2. The method for moving a robot around a barrier according to claim 1, wherein in the step S2, the beaconing method comprises:
the mobile robot acquires its current pose robot _ phase (x, y, angle), calculates coordinates beacon _ phase (x, y) of the beacon based on the trigonometric function,
beacon_pose.x = distance*cosf(robot_pose.angle) + robot_pose.x，
beacon_pose.y = distance*sinf(robot_pose.angle) + robot_pose.y，
wherein distance represents a first predetermined distance.
3. The method for moving the robot around the obstacle according to claim 1, wherein in the step S3, the method for moving the robot to obtain the position of the open area comprises:
step S31, the mobile robot takes the mobile robot as a center, and the periphery of the mobile robot is equally divided into sector areas with preset quantity;
step S32, the mobile robot collects laser point clouds closest to the mobile robot in each sector area through a laser radar and calculates the distance;
step S33, the mobile robot judges that if the distance between the nearest laser point cloud of the mobile robot in a sector area is larger than a preset value, the sector area is considered to be an open area, otherwise, the sector area is considered to have an obstacle.
4. A mobile robot obstacle detouring method according to claim 3, wherein in step S31, the mobile robot is divided into 12 sectors equally around the mobile robot by the clock direction with the mobile robot being centered on itself and with the head direction as the starting direction.
5. A mobile robot obstacle detouring method according to claim 3, wherein in step S3, the method for detouring the mobile robot through the open area comprises:
step S34, the mobile robot takes the head direction of the mobile robot as the initial direction, and simultaneously starts to search for an open area towards the left direction and the right direction;
step S35, stopping searching when the mobile robot searches for an open area in any direction, if only one open area is searched, performing obstacle detouring through the open area by the mobile robot, and if one open area is searched in the left and right directions, entering step S36;
and S36, the mobile robot judges the direction of the beacon, and then selects an open area with the same direction as the beacon to perform obstacle detouring.
6. The mobile robot obstacle detouring method of claim 1, further comprising:
s4, after the mobile robot sets the beacon, taking the beacon as an intersection point, and making a vertical line on the connection line of the mobile robot and the beacon;
and S5, in the obstacle detouring process of the mobile robot, if the mobile robot passes over the vertical line, setting a new beacon at a position which is at a second preset distance from the mobile robot, and detouring based on the new beacon.
7. A mobile robot backseat method, characterized in that the backseat method comprises the mobile robot obstacle detouring method according to any one of claims 1 to 6, the backseat method further comprising:
the mobile robot returns to the charging seat along a recharging signal sent by the charging seat, judges whether an obstacle is detected, if not, continues to move, and if so, performs obstacle detouring;
in the obstacle detouring process, whether a recharging signal is received or not is judged in real time, if yes, the seat is returned along the recharging signal, and if no, obstacle detouring is continued.
8. A chip comprising program instructions for controlling a mobile robot to perform the mobile robot obstacle detouring method of any one of claims 1 to 6 or the mobile robot backseat method of claim 7.
9. A mobile robot, characterized in that it is equipped with a chip as claimed in claim 8.
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