CN112641383B - Robot card-off control method based on slope structure, chip and cleaning robot - Google Patents
Robot card-off control method based on slope structure, chip and cleaning robot Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 131
- 238000000034 method Methods 0.000 title claims abstract description 109
- 230000008569 process Effects 0.000 claims abstract description 60
- 230000001174 ascending effect Effects 0.000 claims abstract description 10
- 230000003578 releasing effect Effects 0.000 claims description 16
- 230000009194 climbing Effects 0.000 claims description 14
- 238000001914 filtration Methods 0.000 claims description 8
- 238000012937 correction Methods 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 description 12
- 238000001514 detection method Methods 0.000 description 11
- 230000000903 blocking effect Effects 0.000 description 8
- 238000010408 sweeping Methods 0.000 description 8
- 239000000725 suspension Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000004927 fusion Effects 0.000 description 2
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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Abstract
The invention discloses a robot card-off control method based on a slope structure, a chip and a cleaning robot, wherein the robot card-off control method comprises the following steps: in the process that the mobile robot walks along a preset planning path, when the mobile robot is detected to be clamped on an ascending slope of the surface of a slope structure or a descending slope of the surface of the slope structure, determining the current position of the mobile robot as a clamped position, and marking a circular area with the clamped position as a center and a preset safety distance as a radius as a dangerous area; then, controlling the mobile robot to walk along the direction opposite to the current advancing direction until the distance between the real-time position of the mobile robot and the clamped position is greater than or equal to a preset safety distance; and then controlling the mobile robot to start to walk around the dangerous area according to the edge of the dangerous area so as to avoid being stuck in the dangerous area. The condition that the mobile robot cannot recover to a normal working state is avoided, and the walking smoothness of the mobile robot on a slope surface or a slope-like structure is improved.
Description
Technical Field
The invention relates to the technical field of robot card-off control, in particular to a robot card-off control method based on a slope structure, a chip and a cleaning robot.
Background
Along with the popularization of the sweeping robot, the requirements of people on the robot are increased day by day, the robot is often stuck in a clamping environment due to a complex furniture environment, a slope and a furniture object with a structure similar to the slope are easy to clamp the sweeping robot and cannot get rid of the clamping environment, and the sweeping efficiency of the robot is influenced.
Particularly, during the operation of the sweeping robot, when the sweeping robot encounters a slope or a bracket with an inclined tube structure type at the bottom of furniture, the sweeping robot generally climbs upwards to cross a higher plane or climb over the inclined tube, but faces the embarrassment that the driving wheel set is suspended and cannot continue to advance and return to the original ground sweeping again. Therefore, the cleaning operation is interrupted, the suspended driving wheel is in an idle running state, power is consumed seriously, resource waste is caused, and the cleaning efficiency of the robot is influenced.
Disclosure of Invention
In order to solve the problem of detecting the machine stuck on a slope or a similar slope structure, the invention provides a robot releasing control method based on a slope structure, a chip and a cleaning robot, aiming at endowing the cleaning robot with automatic releasing/releasing on the slope or the similar slope structure to recover normal cleaning, so that when climbing is blocked or descending is blocked, an area path is planned to retreat in time, and the situation that the cleaning robot is blocked at the original position and pushes a driving wheel to suspend in the air during the walking of a slope is prevented.
A robot card-releasing control method based on a slope structure comprises the following steps: in the process that the mobile robot walks along a preset planning path, when the mobile robot is detected to be clamped on an ascending slope of the surface of a slope structure or a descending slope of the surface of the slope structure, determining the current position of the mobile robot as a clamped position, and marking a circular area with the clamped position as a center and a preset safety distance as a radius as a dangerous area; then, controlling the mobile robot to walk along the direction opposite to the current advancing direction until the distance between the real-time position of the mobile robot and the clamped position is greater than or equal to a preset safety distance; and then controlling the mobile robot to start to walk around the dangerous area according to the edge of the dangerous area so as to avoid being stuck in the dangerous area.
Compared with the prior art, after the technical scheme detects the type of the clamping on the slope structure, the mobile robot timely retreats and synchronously plans the area to be bypassed in a map, then the mobile robot executes corresponding bypassing and releasing actions to avoid the slope area which is easy to be clamped, the situation that the normal working state cannot be recovered is avoided, and the smooth degree of the mobile robot in the slope or the slope-like structure is improved.
Further, still include: and after the mobile robot finishes obstacle detouring, controlling the mobile robot to continue to walk along the preset planned path, and controlling the mobile robot to detour according to the edge of the dangerous area again when the mobile robot detects that the distance between the real-time position and the clamped position is smaller than the preset safety distance. And controlling the mobile robot to avoid a slope area which is easy to be blocked in the process of executing a planning cleaning task, so as to prevent the blockage from being released in real time.
Further, after the mobile robot detects that the mobile robot is jammed, in the process of controlling the mobile robot to walk along the direction opposite to the current forward direction, the method further includes: judging whether a driving wheel of the mobile robot slips due to the inclination of a machine body when the driving wheel of the mobile robot is clamped on the slope structure, if so, controlling the mobile robot to rotate a preset correction angle to adjust the pressure between the driving wheel which is not in a suspended state and the traveling plane of the mobile robot, and then controlling the mobile robot to travel along the reverse direction of the current advancing direction, otherwise, directly controlling the mobile robot to travel along the reverse direction of the current advancing direction. The problem of the driving wheel skidding of the mobile robot caused by the inclination of the robot body on the slope structure is solved.
Further, the method for judging whether the slip caused by the inclination of the machine body exists when the driving wheel of the mobile robot is stuck on the slope structure specifically comprises the following steps: judging whether the relative distance between a positioning coordinate scanned and processed by a laser radar installed on the top of the mobile robot and a coordinate measured by an inertial navigation sensor arranged in the mobile robot is changed into a preset distance error, if so, determining that the driving wheel of the mobile robot slips due to the inclination of the robot body, otherwise, determining that the driving wheel of the mobile robot does not slip due to the inclination of the robot body; the coordinates measured by the inertial navigation sensor are obtained by calculating mileage data measured by a code disc included in the inertial navigation sensor and angle data measured by a gyroscope included in the inertial navigation sensor. The slip of the mobile robot on the surface of the slope structure is accurately judged in a multi-sensor fusion calculation mode.
Further, the slope structure comprises a pipe chute structure and a slope; when the mobile robot is detected to be clamped by the inclined tube structure in the process of walking along the preset planning path, controlling the mobile robot to walk along the direction opposite to the path extending direction of the preset planning path so as to leave the inclined tube structure; when the mobile robot detects that the mobile robot is clamped by the slope in the process of climbing the slope, the mobile robot is controlled to walk towards the direction of a downhill slope so as to tend to move downwards to the bottom of the slope; when the mobile robot detects that the mobile robot is stuck by the slope in the process of descending the slope, the mobile robot is controlled to walk towards the direction of ascending the slope so as to tend to climb to the top of the slope. According to the technical scheme, the mobile robot is controlled to timely avoid the clamped position in a backward walking mode, the backward walking path is simple and is suitable for the clamped condition of an uphill slope and a downhill slope, and the out-of-clamp control method is easy to implement.
Further, before executing the card-off control method, a specific method for detecting that the mobile robot is clamped by a slope structure in the process of walking along a preset planned path comprises the following steps: when the driving wheel on one side of the mobile robot is detected to be in a suspended state by using the falling sensor and the driving wheel on the other side of the mobile robot is detected to be not in the suspended state, controlling the driving wheel which is not in the suspended state to continue to walk along the preset planned path, and simultaneously detecting that the front part of the body of the mobile robot is lifted by using the cliff sensor, determining that the mobile robot is clamped by the inclined tube structure or clamped in the process of climbing a slope; wherein, the left side and the right side of the mobile robot are respectively provided with a driving wheel; a wheel set mounting slot position between the bottom edge of the mobile robot and each driving wheel is provided with a drop sensor for detecting whether the driving wheel on the corresponding side of the mobile robot is suspended; a cliff sensor is arranged on the front side of the bottom of the mobile robot and used for detecting whether the front side part of the body of the mobile robot is lifted. According to the technical scheme, under the condition that the driving wheel on one side of the mobile robot is in a suspended state and the driving wheel on the other side of the mobile robot keeps on the ground to advance, whether the cliff sensor is triggered due to the fact that the body of the mobile robot is lifted or not is detected, the mobile robot is judged to be clamped in the upslope process or the inclined tube crossing process, and the clamping type of the robot on the slope structure is determined.
Further, a specific method for detecting that the mobile robot is stuck by a slope structure in the process of walking along a preset planned path further includes: when the falling sensor detects that the driving wheel on one side of the mobile robot is in a suspended state and the driving wheel on the other side of the mobile robot is not in the suspended state, the driving wheel which is not in the suspended state is controlled to continue to walk along the preset planning path, and if the falling sensor detects that the driving wheel which is originally in the suspended state is changed into the driving wheel which is not in the suspended state and the cliff sensor detects that the front side part of the body of the mobile robot is not lifted, the mobile robot is determined to be clamped in the downhill process. In the technical scheme, if the driving wheel of the robot which is not lifted off the ground advances until the driving wheel suspended at the other side lands on the ground, the cliff sensor at the front side of the machine body is not triggered, the robot can be judged to be clamped in the downhill process, and therefore the clamping type of the robot on the slope structure can be determined.
Further, before the mobile robot detects that the mobile robot is stuck by the slope structure in the process of walking along the preset planning path, the method further comprises the following steps: when the driving wheels at the left side and the right side of the mobile robot are detected to be in a suspended state by the falling sensor, the mobile robot is firstly controlled to travel along the reverse direction of the current advancing direction until the falling sensor detects that the driving wheel at one side of the mobile robot is not in the suspended state. According to the technical scheme, the clamping state of the driving wheel of the mobile robot is adjusted in a retreating mode, so that the clamping type of the machine body on the slope structure is detected by combining detection results of the falling sensor and the cliff sensor to the driving wheel.
Further, when the fall sensor for matching the driving wheel of one side of the mobile robot detects that the driving wheel of the one side is not abutted by the traveling plane, it is determined that the mobile robot is stuck by the slope structure, and the driving wheel of the one side is separated from the traveling plane to become a suspended state; when the fall sensor for matching the driving wheel of one side of the mobile robot detects that the driving wheel of the one side is pressed against the traveling plane, it is determined that the driving wheel of the one side of the mobile robot is physically contacted with the traveling plane so that it does not become a suspended state and the mobile robot is not caught by the slope structure. According to the technical scheme, the triggering effect on the falling sensor is implemented through the physical propping mode of the slope structure to the driving wheel, and then the suspension state of the driving wheel and whether the robot is clamped or not are determined.
Further, when the signal intensity of the currently received reflected signal of the cliff sensor after mean filtering is smaller than or equal to a preset intensity threshold value, it is determined that the front side part of the body of the mobile robot is lifted on the slope structure so that the height difference between the front side part of the body of the mobile robot and the traveling plane is larger than a preset height, and meanwhile, if the falling sensor detects that the driving wheel on one side of the mobile robot is in a suspended state or the driving wheel on one side of the mobile robot is changed from the suspended state to a non-suspended state, it is determined that the mobile robot is in an uphill process. According to the technical scheme, before the suspended driving wheel on one side of the robot lands and at the time of landing, whether the robot is in an uphill stage or not can be determined according to the intensity of a reflected signal of the cliff sensor.
Further, when the signal intensity of the currently received reflected signal of the cliff sensor after mean filtering is greater than the preset intensity threshold value, it is determined that the front side portion of the body of the mobile robot is not lifted on the slope structure so that the height difference between the front side portion of the body of the mobile robot and the traveling plane is smaller than or equal to a preset height, and meanwhile, if the falling sensor detects that the driving wheel on one side of the mobile robot is not in a suspended state from a suspended state, it is determined that the mobile robot is in a downhill process. The technical scheme is that whether the robot is in a downhill stage or not is determined by combining the landing change condition of a suspended driving wheel on one side of the robot and the intensity of a reflected signal of the cliff sensor.
A chip stores algorithm program codes, and the algorithm program instructions realize the corresponding steps of the robot card-off control method based on the slope structure when being executed.
A cleaning robot comprising the chip, wherein the chip implements the robot card-off control method based on the slope structure by executing internally stored algorithm program codes; wherein, the left side and the right side of the cleaning robot are respectively provided with a driving wheel; a wheel set mounting slot between the bottom edge of the cleaning robot and each driving wheel is provided with a drop sensor for detecting whether the driving wheel on the corresponding side of the cleaning robot is suspended; a cliff sensor is arranged on the front side of the bottom of the cleaning robot and used for detecting whether the front side part of the body of the cleaning robot is lifted; the chip is respectively electrically connected with the driving wheel, the falling sensor and the cliff sensor.
Drawings
Fig. 1 is a flowchart of a robot card-off control method based on a slope structure according to an embodiment of the present invention.
Fig. 2 is a flowchart of a robot card-off control method based on a slope structure according to another embodiment of the present invention.
Fig. 3 is a flowchart of a robot jam detection method based on a slope structure according to an embodiment of the present invention.
Fig. 4 is a schematic view of a climbing scene of a mobile robot in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.
In this embodiment, a household cleaning robot is taken as an example, a controller is installed inside a body of the cleaning robot, driving wheels are installed on the left side and the right side of the cleaning robot respectively, a cliff sensor is installed on the front side of the bottom of the mobile robot, and the controller is electrically connected with the driving wheels, the falling sensor and the cliff sensor respectively. The travel plane of the cleaning robot may have uneven planes such as steps, slopes, etc., as shown by the slopes of fig. 4. At the moment, the cleaning robot can detect the front road surface through a cliff sensor arranged at the bottom of the front side of the cleaning robot, and give accurate feedback to prevent the cleaning robot from falling into the cliff, so that whether the front side part of the machine body of the cleaning robot is lifted or not is detected based on the relative depth of a traveling plane and the bottom of the machine body given by a feedback signal; a falling sensor is installed at a wheel set installation slot between the bottom edge of the cleaning robot and each driving wheel, the falling sensor and the corresponding driving wheels synchronously ascend and descend, when the cleaning robot inclines to form an inclination angle due to climbing or inclined tube lifting, the driving wheels are not collided by the external ground (the current traveling plane), and therefore the falling sensor is triggered to generate a sensing signal, the sensing signal is transmitted to a controller inside the cleaning robot, and the suspension judgment of the driving wheels on one side corresponding to the cleaning robot is made. Therefore, the cliff sensor on the front side of the bottom of the machine body and the drop sensor in the mounting groove position near the driving wheel form the inclined plane jamming detection device.
In this embodiment, the driving wheel has a spring member movably fastened to the body, for example, rotatably attached to the chassis of the cleaning robot, and receiving the downward urging force, the spring member allows the driving wheel to maintain the urging against the floor with a certain landing force and to be cushioned by its elastic force, and the drop sensor functions as a limit switch which can be pressed under the urging of the spring member, so that the drop sensor has a triggered physical contact condition, and the cleaning element of the cleaning robot also contacts the floor with a certain pressure. Thus, in this embodiment, the spring member cooperates with the drop sensor as a drive wheel suspension detection device.
As shown in fig. 4, the cleaning robot can travel over the ground through various combinations of real-time variations with respect to three mutually perpendicular axes defined by the body, including: a front-back axis X, a transverse axis Y and a central vertical axis Z; the traveling direction along the front-rear axis X is denoted as the front side as the head (advancing end) of the cleaning robot; the backward driving direction along the front-rear axis X is denoted as a rear side as a tail (retreating end) of the cleaning robot; the direction of the lateral axis Y is substantially a direction extending along a line connecting center points of the left and right drive wheels. The cleaning robot's organism can be around Y axle rotation, and the concrete expression is: when the cleaning robot climbs a slope, the forward portion of the cleaning robot is inclined upward and the backward portion of the cleaning robot is inclined downward, as viewed by the body "pitching up", as shown by the relative position of the dashed circle (representing the cleaning robot) and the slope of fig. 4. At the moment, the front side part of the machine body can be lifted by a slope or a furniture leg structure similar to the slope, and even the phenomenon that the driving wheel is suspended above the ground occurs; when the cleaning robot goes downhill, the backward part of the machine body of the cleaning robot inclines upwards, and the forward part of the machine body of the cleaning robot inclines downwards, which is regarded as the machine body 'bowing downwards', and at the moment, the front part of the machine body can be lifted by a slope or a furniture support leg structure similar to the slope, even the driving wheel is suspended above the ground; in addition, the cleaning robot can rotate around the Z axis. When the cleaning robot travels in the forward direction, the cleaning robot turns to the right side of the X-axis as a "right turn", and the cleaning robot turns to the left side of the X-axis as a "left turn".
In this embodiment, the mobile robot includes a cleaning robot, the cleaning robot includes a main body, a sensing system, a control system, a driving system, a cleaning system, and an energy system, the main body of the cleaning robot includes a front portion and a rear portion, and has an approximately circular shape (both front and rear are circular), and may have other shapes including, but not limited to, an approximately D-shape of a front and rear circle, or a rectangular or square shape of a front and rear.
The sensing system comprises a navigation positioning device positioned on a main machine of the cleaning robot, a collision sensor and a proximity sensor which are arranged on a forward part of the main machine of the cleaning robot, a cliff sensor arranged on the lower part of a main body of the cleaning robot, a controller, a magnetometer, an accelerometer, a gyroscope (Gyro), a odometer (ODO) arranged inside a driving wheel, a drop sensor and other sensing devices arranged in a groove position where the left and right driving wheels are connected with a chassis of the machine body, and the sensing devices are used for providing various position information and motion state information of the machine for the controller. The navigation positioning device includes, but is not limited to, a camera, a Laser Direct Structuring (LDS).
The forward portion of the body of the cleaning robot may carry a bumper that detects one or more events in the path of travel of the cleaning robot, such as table feet, chair feet, walls, via a sensor system, such as an infrared sensor, disposed thereon, as the drive wheels propel the body across the floor during cleaning, and the controller controls the drive wheels to cause the cleaning robot to respond to the events, such as tilting the feet away from the wall, across a portion.
The controller is arranged on a circuit main board in a body of the cleaning robot And comprises a non-transitory memory, such as a hard disk, a flash memory And a random access memory, a communication calculation processor, such as a central processing unit And an application processor, wherein the application processor executes a positioning algorithm, such as instant positioning And Mapping (SLAM), according to obstacle information fed back by the laser ranging device, draws an instant map of the environment where the robot is located And marks the position of the obstacle. And the distance information and the speed information fed back by the sensors such as the sensor, the cliff sensor, the falling sensor (a limit switch trigger device), the magnetometer, the accelerometer, the gyroscope, the odometer and the like arranged on the buffer are combined to comprehensively judge the current working state and position of the cleaning robot, the current pose of the cleaning robot and the like, such as passing a threshold, putting a carpet on the cliff of a step, blocking an ascending slope or a descending slope, filling a dust box, lifting and the like, and a specific next-step action strategy can be given according to different conditions, so that the work of the cleaning robot meets the requirements of an owner better and the user experience is better.
The controller may steer the cleaning robot across different types of floors based on drive commands having distance and angle information (e.g., x, y, and z components). The controller includes a driving wheel module that can simultaneously control left and right driving wheels, and in order to more precisely control the movement of the cleaning robot, it is preferable that the driving wheel module includes left and right driving wheel modules that are symmetrically disposed along a transverse axis (Y-axis of fig. 4) defined by the body. In order for the cleaning robot to be able to move more stably or with greater mobility over the floor surface, the cleaning robot may include one or more driven wheels including, but not limited to, universal wheels for changing steering. The driving wheel module comprises a driving wheel, a driving motor and a control circuit for controlling the driving motor, and the driving wheel module can also be connected with a circuit for measuring driving current, a speedometer and a drop sensor, so that the drop sensor is triggered when the machine body is lifted. The driving wheel module can be detachably connected to the machine body, and is convenient to disassemble, assemble and maintain.
As shown in fig. 4, when the cleaning robot (shown by the dotted circle) travels in the forward mode in the X direction and encounters a slope, the driving wheel module drives the cleaning robot to climb the slope, so that the cleaning robot is inclined. When the front part of the body of the cleaning robot is lifted by the slope and the driving wheels become suspended from the ground, the cleaning robot starts a backing mode in time to control the driving wheel module to rotate reversely, so that the cleaning robot moves in the reverse X direction and returns to the flat ground after being separated from the slope shown in the figure.
In order to solve the problem of detecting the machine stuck on a slope or a similar slope structure, the invention provides a robot releasing control method based on a slope structure, a chip and a cleaning robot, aiming at endowing the cleaning robot with automatic releasing/releasing on the slope or the similar slope structure to recover normal cleaning, so that when climbing is blocked or descending is blocked, an area path is planned to retreat in time, and the situation that the cleaning robot is blocked at the original position and pushes a driving wheel to suspend in the air during the walking of a slope is prevented.
The embodiment of the invention discloses a robot card-off control method based on a slope structure, which comprises the following steps of:
step S201, in the process that the mobile robot walks along a preset planning path, when the mobile robot is detected to be clamped on an ascending slope of the surface of a slope structure or clamped on a descending slope of the surface of the slope structure, determining the current position of the mobile robot as a clamped position, and marking a circular area with the clamped position as a center and a preset safety distance as a radius as a dangerous area; then, the process proceeds to step S202. Specifically, when the mobile robot is determined to be clamped on the slope structure, the current position is marked on the map as the clamped position, a circular area is planned by taking the clamped position as the center and taking the preset safety distance as the radius, and the circular area is marked as a dangerous area so as to prompt the mobile robot to avoid the dangerous area in the walking process along the preset planned path and avoid being clamped by the slope structure again. It should be noted that the traveling plane of the preset planned path may cover a part of the surface of the slope structure and a flat ground.
Step S202, controlling the mobile robot to walk along the direction opposite to the current advancing direction until the distance between the real-time position of the mobile robot and the clamped position is larger than or equal to a preset safety distance; then, the process proceeds to step S203. When the mobile robot is judged to be clamped in the ascending process or in the process of crossing the inclined tube structure in the step S201, firstly controlling the direction of the releasing motion of the mobile robot to be backward, corresponding to the negative direction of the X axis in the figure 4, and if the driving wheel is detected to slip in the process, properly adjusting the pose of the mobile robot; when it is determined in the step S201 that the robot is in the downhill process, the direction of the card-disengaging movement of the robot mobile robot is controlled to be forward, which corresponds to the positive direction of the X axis in fig. 4, and during the period, if the driving wheel is detected to slip, the pose of the robot mobile robot is appropriately adjusted. Specifically, the slope structure comprises a pipe chute structure and a slope; when the mobile robot is detected to be clamped by the inclined tube structure in the process of walking along the preset planning path, controlling the mobile robot to walk along the direction opposite to the path extending direction of the preset planning path so as to leave the inclined tube structure; when the mobile robot detects that the mobile robot is clamped by the slope in the process of climbing the slope, the mobile robot is controlled to walk towards the direction of a downhill slope so as to tend to move downwards to the bottom of the slope; when the mobile robot detects that the mobile robot is stuck by the slope in the process of descending the slope, the mobile robot is controlled to walk towards the direction of ascending the slope so as to tend to climb to the top of the slope. The reverse walking retreating mode is used for controlling the mobile robot to avoid the clamped position in time, the reverse walking path is simple, and the reverse walking path is suitable for the clamped condition of an uphill slope and a downhill slope, so that the out-of-clamp control method is easy to implement.
And step S203, controlling the mobile robot to start obstacle detouring according to the edge of the dangerous area, namely controlling the mobile robot to detour according to the edge track of the dangerous area marked in the map in real time in the step S201 so as to avoid the area which is easy to lift and block, and further avoid the mobile robot from blocking in the dangerous area. The bypassing process is one-time adjustment of the preset planning path, and after the bypassing is finished, the mobile robot is controlled to return to the preset planning path again to continue traversing work, including on the same slope or the same inclined tube structure.
Compared with the prior art, after the step detects the type of the clamping on the slope structure, the step retreats in time and synchronously plans the area to be bypassed in the map, and then the mobile robot executes corresponding bypassing and releasing actions to avoid the slope area which is easy to be clamped, so that the situation that the normal working state cannot be recovered is avoided, and the walking smoothness of the mobile robot on the slope or the slope-like structure is improved.
On the basis of the above embodiment, after the mobile robot finishes the obstacle detouring walking once, the mobile robot is controlled to continue to walk along the preset planned path, and when the mobile robot detects that the distance between the real-time position of the mobile robot and the blocked position is smaller than the preset safety distance, the mobile robot is controlled not to continue to walk along the preset planned path, but to walk around the obstacle according to the edge of the dangerous area according to the detouring method in step S203 again until the real-time walking direction of the mobile robot deviates from the dangerous area, at least the real-time obstacle detouring walking direction of the mobile robot does not point to the blocked position or is far away from the blocked position, and then the mobile robot is controlled to return to the preset planned path. In the embodiment, the mobile robot is controlled to avoid a slope area which is easy to be blocked in the process of executing the planning cleaning task, so that real-time blocking prevention and real-time blocking removal are realized.
As another embodiment of cleaning work, a robot card-releasing control method based on a slope structure is disclosed, which is suitable for a cleaning robot, and as shown in fig. 3, the method specifically includes the following steps:
step S301, when the cleaning robot detects that the cleaning robot is clamped by the slope structure in the process of sweeping along the preset planned path, including when the surface uphill slope of the slope structure is clamped or the surface downhill slope of the slope structure is clamped, determining that the current position of the cleaning robot on the slope structure is a clamped position, marking a circle area with the clamped position as the center and a preset safe distance as the radius on a map to be built at the moment as a dangerous area, and then entering step S302. It should be noted that, the number of the clamped positions may be more than one, so that the marked dangerous areas are not only one, so as to prompt the mobile robot to avoid the dangerous areas during the walking process along the preset planned path, and prevent the cleaning robot from being clamped by the slope structure again during the cleaning process of the slope surface; meanwhile, the traveling plane of the preset planning path can cover the surface of a part of the slope structure and the flat ground.
Step S302, judging whether the driving wheel slips due to the inclination of the machine body when the mobile robot is clamped on the slope structure, if so, entering step S303, otherwise, entering step S304. Specifically, the method for determining whether the driving wheels of the mobile robot have a slip caused by the inclination of the machine body includes: judging whether the relative distance between a positioning coordinate scanned and processed by a laser radar installed on the top of the mobile robot and a coordinate measured by an inertial navigation sensor arranged in the mobile robot is changed into a preset distance error, if so, determining that the driving wheel of the mobile robot slips due to the inclination of the robot body, otherwise, determining that the driving wheel of the mobile robot does not slip due to the inclination of the robot body; the coordinates measured by the inertial navigation sensor are obtained by calculating mileage data measured by a code disc included in the inertial navigation sensor and angle data measured by a gyroscope included in the inertial navigation sensor. The slip of the mobile robot on the surface of the slope structure is accurately judged in a multi-sensor fusion calculation mode, and the slip detection accuracy is improved.
Step S303, controlling the cleaning robot to rotate by a preset correction angle to adjust the pressure between the driving wheel which is not in a suspended state and the traveling plane of the cleaning robot, and then entering step S304; because when cleaning machines people upslope was blocked, there was the drive wheel unsettled and the organism by the lifting of one side, cleaning machines people's whole fuselage appears the state that the slope set up at the slope structure, so, the drive wheel that is not in unsettled state and cleaning machines people's the planar pressure size of marcing for being blocked before change, lead to cleaning machines people to appear skidding at the surface of slope structure and clean the in-process. Therefore, in order to overcome the above slipping phenomenon, the present embodiment controls the cleaning robot to rotate a preset correction angle to perform the releasing action, so that the cleaning robot continues to perform the releasing action again on the basis of reducing the slipping of the driving wheels.
And step S304, on the basis of the posture of the cleaning robot adjusted in the step S303, controlling the cleaning robot to travel along the direction opposite to the real-time traveling direction, that is, to continue traveling along the direction opposite to the traveling direction rotated by the preset correction angle in the step S303, so as to achieve the purpose of leaving the blocked position. Then, the process proceeds to step S305.
And S305, judging whether the distance between the real-time position of the cleaning robot and the clamped position is greater than or equal to a preset safety distance, if so, entering the step S306, and otherwise, returning to the step S304. Specifically, the slope structure comprises a pipe chute structure and a slope; in this embodiment, when the cleaning robot detects that the cleaning robot is stuck by the inclined tube structure (such as the chair leg structure) during the cleaning process along the preset planned path, the mobile robot is controlled to travel along the direction opposite to the path extending direction of the preset planned path, and the step S305 is executed to determine whether the relative distance reaches the preset safe distance, so as to determine whether the cleaning robot leaves the inclined tube structure. When the cleaning robot detects that the cleaning robot is clamped by the slope in the climbing slope cleaning process, the cleaning robot is controlled to walk towards the downward slope direction to tend to move downwards to the bottom of the slope, and the step S305 is kept to be executed to judge whether the relative distance reaches the preset safety distance, so that the cleaning robot is prevented from returning to the slope after exiting the slope to continuously clean the non-traversed area except the dangerous area; when the cleaning robot detects that the cleaning robot is clamped by the slope in the process of descending the slope, the cleaning robot is controlled to walk towards the direction of ascending the slope to tend to climb to the top of the slope, and the step S305 is kept to be executed to judge whether the relative distance reaches the preset safety distance, so that the condition that the cleaning robot does not return to the slope corresponding to the original height position after climbing to the top of the slope to continuously clean the non-traversed area except the dangerous area is avoided. The reverse walking retreating mode is used for controlling the mobile robot to avoid the clamped position in time, the reverse walking path is simple, and the reverse walking path is suitable for the clamped condition of an uphill slope and a downhill slope, so that the out-of-clamp control method is easy to implement.
Step S306, controlling the cleaning robot to start to walk around the obstacle according to the edge of the dangerous area, so as to avoid being blocked in the dangerous area and recover normal planning and cleaning, at least until the real-time obstacle-detouring walking direction of the cleaning robot does not point to the blocked position or is far away from the blocked position, then the cleaning robot is controlled to switch back to clean along the preset planned path by bypassing the cleaning robot, however, after the type of the jam is detected on the slope structure, the slope structure is backed off in time and the area to be bypassed is planned in a map synchronously, and then the cleaning robot is made to walk around the edge of the track of the dangerous area planned in real time according to step S306, the slope surface area covered by the dangerous area which is easy to be blocked is avoided, the condition that the normal working state cannot be recovered is avoided, and the smoothness of cleaning operation of the cleaning robot on the slope surface or a slope-like structure is improved.
As an embodiment, a specific method for detecting that the mobile robot is stuck by a slope structure in the process of walking along a preset planned path, as shown in fig. 1, includes the following steps:
and S101, controlling the mobile robot to start walking along a preset planned path, and then entering S102. When the mobile robot is applied to the cleaning robot in the embodiment, normal cleaning operation is performed along a preset planning path; and a controller in the mobile robot monitors and acquires data of the falling sensor of the driving wheel and the cliff sensor on the front side of the bottom of the machine body in real time.
And S102, judging whether the falling sensor detects that the driving wheel on one side of the mobile robot is in a suspended state and the driving wheel on the other side of the mobile robot is not in the suspended state, if so, entering S103, and otherwise, entering S104. In this step, the controller monitors whether the fall sensors on the left and right sides of the mobile robot are triggered. When the driving wheel on one side is in a suspended state due to the fact that the driving wheel loses the resisting acting force from the ground, the falling sensor at the wheel set installation slot position of the driving wheel on the side is triggered to inform the controller that the driving wheel on the side is in the suspended state; when the driving wheel on one side is away from the ground and has a resisting acting force without being in a suspended state, the falling sensor at the wheel set installation slot position of the driving wheel on the side is not triggered, and the controller is informed that the driving wheel on the side is not in the suspended state.
It is noted that when the fall sensor for matching the driving wheel of one side of the mobile robot detects that the driving wheel of this side is not abutted by the traveling plane, it is determined that the driving wheel of this side of the mobile robot is stuck by the slope structure out of the traveling plane. The present embodiment implements the triggering action on the fall sensor by way of the physical contact of the ramp structure to the drive wheel.
It should be noted that when the drop sensor for matching the driving wheel of one side of the mobile robot detects that the driving wheel of the one side is abutted by the traveling plane, it is determined that the mobile robot is not clamped by the slope structure, and the driving wheel is controlled to continue to travel along the preset planned path on the same traveling plane or different types of ground (from a slope to a flat ground or from a flat ground to a slope). The driving wheel used for maintaining the unsettled jam continues to advance on the surface of the slope structure, and the detection of the jam state is facilitated.
Step S103, controlling the driving wheel not in the suspended state (the driving wheel not lifted off the ground) to continue to travel along the preset planned path in step S101, or controlling the driving wheel not lifted off the ground to continue to travel along the current advancing direction, and then entering step S105.
Preferably, step S104 determines whether the fall sensor detects that the driving wheels on both sides of the mobile robot are in a suspended state, if so, step S106 is performed, otherwise, step S105 is performed.
S106, controlling the mobile robot to walk along the direction opposite to the current traveling direction, and enabling the mobile robot to enter a backward mode at the moment, so that the wheel set of the driving wheel module is reversed to drive the mobile robot to backward; and returning to step S102 to determine whether the fall sensor detects that the driving wheel on one side of the mobile robot is in a suspended state and the driving wheel on the other side of the mobile robot is not in a suspended state during the process that the mobile robot travels in the opposite direction of the current traveling direction. And controlling the mobile robot to walk along the reverse direction of the current traveling direction until the falling sensor detects that the driving wheel on one side of the mobile robot is not in a suspended state. The embodiment adjusts the blocking state of the driving wheel of the mobile robot in a backward mode, so that the blocking type of the machine body on the slope structure, including uphill blocking or downhill blocking, is detected by combining the detection results of the falling sensor and the cliff sensor.
Step S105, judging whether the cliff sensor detects that the front part of the body of the mobile robot is lifted, if so, the step S107 is carried out, and if not, the step S108 is carried out. The controller may know whether the cliff sensor detects that the front half side of the body of the mobile robot is lifted through light intensity information fed back by the cliff sensor in this step. The higher the intensity of light fed back from the cliff sensor is, the higher the front part of the machine body is, and conversely, the lower the front part of the machine body is, the requirement for detecting the cliff surface of the step in front of the mobile robot can be satisfied.
Step S107, the controller determines that the cliff sensor detects that the front side part of the machine body of the mobile robot is lifted, and determines that the mobile robot is clamped by an inclined tube structure or clamped in the process of climbing a slope; wherein the slope structure includes a slope (the traveling plane of the mobile robot is a slope) and a pipe chute structure for supporting the bottom of the furniture, such as some pipe chute-like chair legs. In the embodiment, under the condition that the driving wheel on one side of the mobile robot is in a suspended state and the driving wheel on the other side of the mobile robot keeps on the ground to advance, whether the cliff sensor is triggered by the fact that the body of the mobile robot is lifted or not is detected, so that the mobile robot is judged to be clamped in the upslope process or the inclined tube crossing process, and a clamping type of the robot on a slope structure is determined. The method is implemented by combining the suspended state of the driving wheel detected by the falling sensor of the mobile robot and the lifting condition of the front side of the machine body detected by the cliff sensor of the mobile robot, and detecting whether the mobile robot is clamped by the slope structure.
On the basis of the foregoing embodiment, when the signal intensity of the reflected signal currently received by the cliff sensor after being subjected to mean filtering is less than or equal to the preset intensity threshold, it is determined that the front side portion of the body of the mobile robot is lifted so that the height difference between the lifted front side portion of the body of the mobile robot and the traveling plane of the body is greater than the preset height, that is, the cliff sensor is triggered to detect the body lifting, and meanwhile, if the controller detects that the driving wheel on one side is in a suspended state by using the drop sensor, or the driving wheel on one side is changed from the suspended state to a non-suspended state (the driving wheels on both sides are not in the suspended state), it is determined that the mobile robot is in an uphill process. In the embodiment, before the suspended driving wheel on one side of the robot lands and at the time of landing, whether the robot is in an uphill stage can be determined according to the intensity of the reflected signal of the cliff sensor. This only applies in scenarios where the mobile robot is walking on the surface of a sloped structure or is climbing over a sloped tube structure.
Step S108, determining whether the drop sensor detects that the driving wheel in the suspended state (in the step S103) is not in the suspended state, if so, going to step S109, otherwise, going to step S110. The step S108 is to determine whether there is a driving wheel that has lifted off the ground along with the forward movement of the driving wheel that has not lifted off the ground, on the premise that the cliff sensor is not triggered by the lifting of the body, and is suitable for the detection of jamming during the downhill walking of the mobile robot in this embodiment.
And step S109, determining that the mobile robot is blocked in the downhill process. And based on the signal strength detected by the cliff sensor, the controller determines that the cliff sensor detects that the front part of the body of the mobile robot is not lifted, and meanwhile, the cliff sensor on the front side of the body is not triggered when the driving wheel which is not lifted off the ground of the robot advances until the other suspended driving wheel lands, so that the mobile robot is determined to be clamped in the process of descending the slope, and therefore, the clamping type of the robot on the slope structure is determined. Thus, it is implemented: whether the mobile robot is clamped by the slope structure or not is detected by combining the suspended state of the driving wheel detected by the falling sensor of the mobile robot and the lifting condition of the front side of the machine body detected by the cliff sensor of the mobile robot.
And step S110, determining that the mobile robot is in a downhill process. Specifically, when the signal intensity of the currently received reflected signal of the cliff sensor after mean value filtering is greater than a preset intensity threshold value, it is determined that the front side part of the body of the mobile robot is not lifted so that the height difference between the front side part of the body of the mobile robot and the traveling plane is smaller than or equal to a preset height, and meanwhile, due to the reason that the body is inclined, the driving wheel on the side where the falling sensor detects the existence is changed from an original suspended state to a suspended state, and it is determined that the mobile robot is in a downhill process. Therefore, the embodiment combines the landing change of the suspended driving wheel on one side of the robot and the intensity of the reflected signal of the cliff sensor to determine whether the robot is in the stage of descending slope. This only applies in scenarios where the mobile robot walks on the surface of a sloping structure.
Preferably, the drop sensor is a limit switch, and is configured to trigger (may be that the limit switch is pressed under the action of a spring component of the driving wheel) the limit switch not to output a suspension signal when the external physical contact with the driving wheel exists, and trigger the limit switch to output a suspension signal when the external physical contact with the driving wheel does not exist (may be that the limit switch is not contacted under the elastic action of the spring component of the driving wheel); wherein the external physical abutment results from a physical interference between the ramp and the drive wheel or between the tube chute structure for supporting the bottom of the piece of furniture and the tube chute structure for supporting the bottom of the piece of furniture.
Preferably, the detection signal emitted by the cliff sensor is an infrared signal, in this embodiment, the cliff sensor includes an infrared signal source and an infrared signal receiver, the infrared signal source emits a conical infrared detection light at a preset emission angle, the reflectivity and the light source directivity of the conical infrared detection light by the surface of the slope structure are good, the energy of the reflection signal received by the infrared signal receiver is large, and the cliff sensor is configured to determine the depth of the traveling plane according to the intensity information of the reflection signal, and further determine whether the traveling plane is a flat ground, an inclined plane, or a cliff plane. As an example, the cliff sensor provided in the embodiment of the present invention is described by using an infrared pair tube, and the basic operation process is as follows, an infrared signal source is installed near the front edge of the bottom of the machine body, and irradiates an infrared signal to the traveling plane at a certain angle, and an infrared signal receiver calculates the height from the ground after filtering processing according to the energy of the infrared light reflected by the traveling plane, so as to determine whether to trigger the cliff sensor.
As an embodiment, when the falling sensor detects that the driving wheels on the left and right sides of the mobile robot are not in a suspended state, if the signal intensity of the currently received reflected signals of the cliff sensor after mean value filtering is less than or equal to a preset intensity threshold, it is determined that the mobile robot is clamped by an inclined tube structure or is clamped in a process of climbing a slope, and it is also determined that a traveling plane in front of the mobile robot is a step surface and a cliff surface.
The embodiment of the invention also discloses a chip, wherein the chip stores algorithm program codes, and the algorithm program instructions realize the steps corresponding to the slope structure-based robot card-off control method of the embodiment when executed.
A cleaning robot comprises the chip of the previous embodiment, and the chip realizes any step of the robot card-off control method based on the slope structure of the previous embodiment by executing internally stored algorithm program codes. Wherein, the left side and the right side of the cleaning robot are respectively provided with a driving wheel; a wheel set mounting slot between the bottom edge of the cleaning robot and each driving wheel is provided with a drop sensor for detecting whether the driving wheel on the corresponding side of the cleaning robot is suspended; a cliff sensor is arranged on the front side of the bottom of the cleaning robot and used for detecting whether the front side part of the body of the cleaning robot is lifted; the chip is respectively electrically connected with the driving wheel, the falling sensor and the cliff sensor.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (12)
1. A robot card-releasing control method based on a slope structure is characterized by comprising the following steps:
in the process that the mobile robot walks along a preset planning path, when the mobile robot is detected to be clamped on an ascending slope of the surface of a slope structure or a descending slope of the surface of the slope structure, determining the current position of the mobile robot as a clamped position, and marking a circular area with the clamped position as a center and a preset safety distance as a radius as a dangerous area;
then, controlling the mobile robot to walk along the direction opposite to the current advancing direction until the distance between the real-time position of the mobile robot and the clamped position is greater than or equal to a preset safety distance;
then controlling the mobile robot to start to walk around the obstacle according to the edge of the dangerous area so as to avoid being stuck in the dangerous area;
after the mobile robot detects that the mobile robot is blocked, in the process of controlling the mobile robot to walk along the direction opposite to the current advancing direction, the method further comprises the following steps:
firstly, judging whether a driving wheel of the mobile robot slips due to the inclination of a machine body, if so, controlling the mobile robot to rotate a preset correction angle to adjust the pressure between the driving wheel which is not in a suspended state and a traveling plane of the mobile robot, and then controlling the mobile robot to travel along the reverse direction of the real-time traveling direction, otherwise, directly controlling the mobile robot to travel along the reverse direction of the current traveling direction.
2. The robot card-releasing control method according to claim 1, further comprising:
and after the mobile robot finishes obstacle detouring, controlling the mobile robot to continue to walk along the preset planned path, and when the mobile robot detects that the distance between the real-time position and the clamped position is smaller than the preset safety distance, controlling the mobile robot to walk around the obstacle again according to the edge of the dangerous area until the real-time walking direction of the mobile robot deviates from the dangerous area.
3. The method for controlling robot card release according to claim 1, wherein the method for determining whether the driving wheel of the mobile robot slips due to the inclination of the body specifically comprises:
judging whether the relative distance between a positioning coordinate scanned and processed by a laser radar installed on the top of the mobile robot and a coordinate measured by an inertial navigation sensor arranged in the mobile robot becomes a preset distance error, if so, determining that the driving wheel of the mobile robot slips due to the inclination of the robot body, otherwise, determining that the driving wheel of the mobile robot does not slip due to the inclination of the robot body;
the coordinates measured by the inertial navigation sensor are obtained by calculating mileage data measured by a code disc included in the inertial navigation sensor and angle data measured by a gyroscope included in the inertial navigation sensor.
4. The robotic card-release control method of claim 3, wherein the ramp structure comprises a sloped tube structure and a ramp;
when the mobile robot is detected to be clamped by the inclined tube structure in the process of walking along the preset planning path, controlling the mobile robot to walk along the direction opposite to the path extending direction of the preset planning path so as to leave the inclined tube structure;
when the mobile robot detects that the mobile robot is clamped by the slope in the process of climbing the slope, the mobile robot is controlled to walk towards the direction of a downhill slope so as to tend to move downwards to the bottom of the slope;
when the mobile robot detects that the mobile robot is stuck by the slope in the process of descending the slope, the mobile robot is controlled to walk towards the direction of ascending the slope so as to tend to climb to the top of the slope.
5. The robot card-disengaging control method according to claim 4, wherein before executing the card-disengaging control method, a specific method for detecting that the mobile robot is jammed by a slope structure in the process of walking along a preset planned path comprises:
when the driving wheel on one side of the mobile robot is detected to be in a suspended state by using the falling sensor and the driving wheel on the other side of the mobile robot is detected to be not in the suspended state, controlling the driving wheel which is not in the suspended state to continue to walk along the preset planned path, and simultaneously detecting that the front part of the body of the mobile robot is lifted by using the cliff sensor, determining that the mobile robot is clamped by the inclined tube structure or clamped in the process of climbing a slope;
wherein, the left side and the right side of the mobile robot are respectively provided with a driving wheel; a wheel set mounting slot position between the bottom edge of the mobile robot and each driving wheel is provided with a drop sensor for detecting whether the driving wheel on the corresponding side of the mobile robot is suspended; a cliff sensor is arranged on the front side of the bottom of the mobile robot and used for detecting whether the front side part of the body of the mobile robot is lifted.
6. The robot card-release control method according to claim 5, wherein the specific method for detecting that the mobile robot is stuck by the slope structure in the process of walking along the preset planned path further comprises:
when the falling sensor detects that the driving wheel on one side of the mobile robot is in a suspended state and the driving wheel on the other side of the mobile robot is not in the suspended state, the driving wheel which is not in the suspended state is controlled to continue to walk along the preset planning path, and if the falling sensor detects that the driving wheel which is originally in the suspended state is changed into the driving wheel which is not in the suspended state and the cliff sensor detects that the front side part of the body of the mobile robot is not lifted, the mobile robot is determined to be clamped in the downhill process.
7. The robot card-releasing control method according to claim 6, wherein before the mobile robot detects the card stuck by the slope structure during the walking along the preset planned path, the method further comprises:
when the driving wheels at the left side and the right side of the mobile robot are detected to be in a suspended state by the falling sensor, the mobile robot is firstly controlled to travel along the reverse direction of the current advancing direction until the falling sensor detects that the driving wheel at one side of the mobile robot is not in the suspended state.
8. The robot card-release control method according to claim 7, wherein when the fall sensor for matching with the drive wheel of one side of the mobile robot detects that the drive wheel of the one side is not abutted by the traveling plane, it is determined that the mobile robot is caught by the slope structure, and the drive wheel of the one side is separated from the traveling plane to become a suspended state; when the fall sensor for matching the driving wheel of one side of the mobile robot detects that the driving wheel of the one side is pressed against the traveling plane, it is determined that the driving wheel of the one side of the mobile robot is physically contacted with the traveling plane so that it does not become a suspended state and the mobile robot is not caught by the slope structure.
9. The robot card release control method according to claim 8, wherein when the signal intensity of the currently received reflected signal of the cliff sensor after mean filtering is less than or equal to a preset intensity threshold, it is determined that the front side portion of the body of the mobile robot is lifted on the slope structure, and meanwhile, if the fall sensor detects that the driving wheel on one side is in a suspended state or the driving wheel on one side is changed from the suspended state to a non-suspended state, it is determined that the mobile robot is in an uphill process.
10. The robot card release control method according to claim 9, wherein when the signal intensity of the currently received reflected signal of the cliff sensor after being subjected to the mean filtering is greater than the preset intensity threshold value, it is determined that the front side portion of the body of the mobile robot is not lifted on the slope structure, and meanwhile, if the falling sensor detects that the driving wheel on one side is changed from a suspended state to a non-suspended state, it is determined that the mobile robot is in a downhill process.
11. A chip storing algorithm program codes, wherein the algorithm program codes realize the corresponding steps of the robot card-off control method based on the slope structure in any one of claims 1 to 10 when being executed.
12. A cleaning robot, characterized in that the cleaning robot comprises a chip of claim 11, and the chip implements the robot card-off control method based on the slope structure of any one of claims 1 to 10 by executing an internally stored algorithm program code;
wherein, the left side and the right side of the cleaning robot are respectively provided with a driving wheel; a wheel set mounting slot between the bottom edge of the cleaning robot and each driving wheel is provided with a drop sensor for detecting whether the driving wheel on the corresponding side of the cleaning robot is suspended; a cliff sensor is arranged on the front side of the bottom of the cleaning robot and used for detecting whether the front side part of the body of the cleaning robot is lifted; the chip is respectively electrically connected with the driving wheel, the falling sensor and the cliff sensor.
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| CN114027748B (en) * | 2021-11-13 | 2023-01-03 | 深圳甲壳虫智能有限公司 | Mobile robot walking control method |
| CN116407040A (en) * | 2021-12-31 | 2023-07-11 | 追觅创新科技(苏州)有限公司 | Traveling method and system of cleaning robot and cleaning robot |
| CN114721378B (en) * | 2022-03-22 | 2024-09-24 | 深圳市优必选科技股份有限公司 | Robot obstacle avoidance method, robot obstacle avoidance device, robot and computer readable storage medium |
| CN114894204B (en) * | 2022-04-15 | 2025-04-22 | 东莞理工学院 | System and method for constructing high-precision 2D projection maps of non-flat ground scenes |
| CN115729237A (en) * | 2022-11-04 | 2023-03-03 | 深圳市正浩创新科技股份有限公司 | Path planning method, path planning device, self-moving device and storage medium |
| CN117085982A (en) * | 2023-09-20 | 2023-11-21 | 苏州瑞得恩光能科技有限公司 | Anti-drop method and system for cleaning robot |
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