CN112947478B - Method and device for getting rid of trapping around column of robot, computer equipment and storage medium - Google Patents
Method and device for getting rid of trapping around column of robot, computer equipment and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000010408 sweeping Methods 0.000 claims abstract description 181
- 238000001514 detection method Methods 0.000 claims abstract description 82
- 238000012544 monitoring process Methods 0.000 claims abstract description 52
- 238000004804 winding Methods 0.000 claims abstract description 31
- 238000011084 recovery Methods 0.000 claims abstract description 26
- 238000004140 cleaning Methods 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 7
- 230000009286 beneficial effect Effects 0.000 description 3
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- 238000003491 array Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The embodiment of the application belongs to the technical field of robot navigation, and relates to a robot post-winding escaping method, which comprises the steps that in a wall-following state, a sweeping robot repeatedly runs on an already-passed coordinate, the current coordinate is marked as a detection coordinate, and a monitoring state is entered; in the monitoring state, if the sweeping robot repeatedly runs on the already-passed coordinates, entering a recovery state; in a recovery state, controlling the sweeping robot to run to a detection coordinate, and controlling the sweeping robot to walk reversely along the coordinate before the sweeping robot runs to the detection coordinate for the first time according to the continuously recorded coordinate until collision occurs; and updating the detection coordinates according to the current coordinates, recovering to a wall-following state, and if the sweeping robot repeatedly operates on the detection coordinates within a preset operation distance, entering a monitoring state until the sweeping robot does not repeatedly operate within the preset operation distance in the wall-following state, and emptying the detection coordinates. The success rate of the application along the wall is high.
Description
Technical Field
The application relates to the technical field of robot navigation, in particular to a method and a device for getting rid of poverty of a robot around a column, computer equipment and a storage medium.
Background
The sweeping robot can autonomously sweep an area, so that the manpower required to be consumed in cleaning is greatly reduced. The sweeping robot traverses the area to be cleaned through map navigation drawn by self, in the actual working process, the material placement of the area to be cleaned is complex, the travel of the sweeping robot is easy to be interfered, in the working process, the sweeping robot needs to enter a wall-following mode to completely clean the corner area of the area to be cleaned, or a self-recharging seat is charged, in the process, the sweeping robot transmits signals through a signal transmitter and receives wall return signals, the sweeping robot travels in a manner of keeping parallel to and attached to the wall according to the signals returned by the wall, therefore, in the state of along the wall, the sweeping robot has a probability of traveling to the vicinity of a columnar obstacle near the wall due to interference deviation along the wall route, the columnar obstacle is identified as the wall, the column-following travel is trapped, typical trapped scenes comprise thicker table legs, stools, sofa feet supports, clothes hangers, flower shelves and the like, if the column-following is formed in the environment, the sweeping robot continuously moves around the column in the state of along the wall, and thus the area to be cleaned can not normally.
Disclosure of Invention
The embodiment of the application aims at providing a scheme for controlling a sweeping robot to automatically identify a winding column and get rid of the trapping state under the state of winding the column.
In order to solve the technical problems, the embodiment of the application provides a robot winding post escaping method, which adopts the following technical scheme:
the robot post winding escaping method comprises the following steps:
continuously recording coordinates and an advancing direction angle of the sweeping robot in a cleaning area in a wall-following state;
if the sweeping robot repeatedly runs on the already-passed coordinates, marking the current coordinates as detection coordinates and entering a monitoring state;
in the monitoring state, if the sweeping robot repeatedly runs on the already-passed coordinates, entering a recovery state;
in a recovery state, controlling the sweeping robot to run to a detection coordinate, and controlling the sweeping robot to walk reversely along the coordinate before the sweeping robot runs to the detection coordinate for the first time according to the continuously recorded coordinate until collision occurs;
and updating the detection coordinates according to the current coordinates, recovering to a wall-following state, and if the sweeping robot repeatedly operates on the detection coordinates within a preset operation distance, entering a monitoring state until the sweeping robot does not repeatedly operate within the preset operation distance in the wall-following state, and emptying the detection coordinates.
Further, if the sweeping robot repeatedly runs on the already-passed coordinates, marking the current coordinates as the detection coordinates and entering a monitoring state, the method specifically includes:
according to the repeated occurrence of the sweeping robot on one coordinate, acquiring the angle change quantity of the advancing direction of the sweeping robot between the two occurrences of the sweeping robot on the coordinate;
determining that the sweeping robot winds a column according to the angle change quantity of the advancing direction of the sweeping robot is a circle;
the current coordinates are marked as detection coordinates and a monitoring state is entered.
Further, after the step of repeatedly generating on one coordinate according to the sweeping robot and obtaining the angle change of the advancing direction of the sweeping robot between the two occurrences of the sweeping robot on the coordinate, the step of determining the sweeping robot to wind the column before the sweeping robot is determined according to the angle change of the advancing direction of the sweeping robot as one circle;
according to the wall-following direction of the sweeping robot, determining that the angle change direction of the robot when the robot winds a column is clockwise or anticlockwise;
and determining that the angle change quantity is matched with the angle change direction of the robot when the robot winds the column according to the angle change quantity of the advancing direction of the sweeping robot.
Further, in the recovery state, the step controls the sweeping robot to run to the detection coordinates, and controls the sweeping robot to walk reversely along the coordinates before running to the detection coordinates for the first time according to the continuously recorded coordinates until collision occurs, and the method further comprises the following steps:
updating the detection coordinates according to the current coordinates, and recovering to a wall-following state, and if the sweeping robot repeatedly operates on the passed coordinates within a preset operating distance and the current coordinates are inconsistent with the detection coordinates, updating the detection coordinates according to the current coordinates, and entering a monitoring state.
In order to solve the technical problem, the embodiment of the application also provides a robot winding column escaping device, which adopts the following technical scheme:
the device of getting rid of poverty around post of robot includes:
a recording unit: for continuously recording coordinates and an advancing direction angle of the robot in the cleaning region in a wall-following state;
the repeated detection unit is used for marking the current coordinate as a detection coordinate and entering a monitoring state if the sweeping robot repeatedly runs on the already-passed coordinate;
the position comparison unit is used for entering a recovery state if the sweeping robot repeatedly runs on the coordinates in the monitoring state;
the position recovery unit is used for controlling the sweeping robot to run to the detection coordinates in a recovery state, and controlling the sweeping robot to walk reversely along the coordinates before the sweeping robot runs to the detection coordinates for the first time according to the continuously recorded coordinates until collision occurs;
and the along-wall recovery unit is used for updating the detection coordinates according to the current coordinates, recovering to the along-wall state, entering a monitoring state if the sweeping robot repeatedly operates on the detection coordinates within a preset operation distance until the sweeping robot does not repeatedly operate within the preset operation distance under the along-wall state, and emptying the detection coordinates.
Further, the position comparison unit specifically includes:
the angle change amount acquisition subunit is used for acquiring the advancing direction angle change amount of the sweeping robot between two occurrences of the sweeping robot on one coordinate according to the repeated occurrence of the sweeping robot on the coordinate;
the column winding determining subunit is used for determining the column winding of the sweeping robot according to the fact that the angle change quantity of the advancing direction of the sweeping robot is a circle;
the monitoring state entering subunit is used for marking the current coordinates as detection coordinates and entering the monitoring state.
Further, the position comparison unit further comprises;
the direction determining subunit is used for determining the angle change direction of the robot when the robot winds the column to be clockwise or anticlockwise according to the wall-following direction of the sweeping robot;
and the direction comparison subunit is used for determining that the angle change quantity is matched with the angle change direction of the robot when the robot winds the column according to the angle change quantity of the advancing direction of the sweeping robot.
Further, the robot winding post device of getting rid of poverty still includes:
and the detection point adjusting unit is used for updating the detection coordinates according to the current coordinates and recovering to a wall-following state, and if the sweeping robot repeatedly runs on the passed coordinates within the preset running distance and the current coordinates are inconsistent with the detection coordinates, updating the detection coordinates according to the current coordinates and entering a monitoring state.
In order to solve the above technical problems, the embodiments of the present application further provide a computer device, which adopts the following technical schemes:
a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program implementing the steps of the robot post-wrap method as described above.
In order to solve the above technical problems, embodiments of the present application further provide a computer readable storage medium, which adopts the following technical solutions:
a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of a robot post wrap method as described above.
Compared with the prior art, the embodiment of the application has the following main beneficial effects: by setting the monitoring state and entering the monitoring state in the state that the sweeping robot is in a coordinate in the cleaning area twice, then if the monitoring sweeping robot is in a state of continuously repeatedly walking on the area in the cleaning area, the sweeping robot is indicated to enter a circulating path, the sweeping robot is switched to a recovery state at the moment, in the recovery state, the sweeping robot is controlled to return according to the recorded path at the monitoring coordinate, the original path is returned, when collision happens, the switching back to the wall-following state is attempted, because the collision point is also on the recorded path, if the column winding still happens, the collision point is taken as a new detection coordinate, the original path before the sweeping robot enters the monitoring state is continued to return until the collision happens between the sweeping robot and the wall, at this moment, the sweeping robot can continue to follow the wall from a place which is separated from the wall according to the wall-following strategy, and the wall-following mode is the same as before, a completely closed wall-following track can be formed, the scheme can realize the sweeping robot to be in the wall-following state, and the wall-following motion can realize the high-success rate.
Drawings
For a clearer description of the solution in the present application, a brief description will be given below of the drawings that are needed in the description of the embodiments of the present application, it being obvious that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a flow chart of one embodiment of a method of robotic post-winding escape according to the present application;
FIG. 2 is a schematic structural view of one embodiment of a robotic post-winding escape device according to the present application;
FIG. 3 is a schematic structural diagram of one embodiment of a computer device according to the present application.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In order to better understand the technical solutions of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings.
With continued reference to fig. 1, a flow chart of one embodiment of a method of robotic post-winding escape according to the present application is shown. The robot post winding escaping method comprises the following steps:
step S100: continuously recording coordinates and an advancing direction angle of the sweeping robot in a cleaning area in a wall-following state;
step S200: if the sweeping robot repeatedly runs on the already-passed coordinates, marking the current coordinates as detection coordinates and entering a monitoring state;
step S300: in the monitoring state, if the sweeping robot repeatedly runs on the already-passed coordinates, entering a recovery state;
step S400: in a recovery state, controlling the sweeping robot to run to a detection coordinate, and controlling the sweeping robot to walk reversely along the coordinate before the sweeping robot runs to the detection coordinate for the first time according to the continuously recorded coordinate until collision occurs;
step S500: and updating the detection coordinates according to the current coordinates, recovering to a wall-following state, and if the sweeping robot repeatedly operates on the detection coordinates within a preset operation distance, entering a monitoring state until the sweeping robot does not repeatedly operate within the preset operation distance in the wall-following state, and emptying the detection coordinates.
Compared with the prior art, the embodiment of the application has the following main beneficial effects: by setting the monitoring state and entering the monitoring state in the state that the sweeping robot is in a coordinate in the cleaning area twice, then, if the monitoring sweeping robot continuously walks repeatedly on the area in the cleaning area, the sweeping robot is indicated to enter a circulating path, the sweeping robot is switched to a recovery state at the moment, and in the recovery state, the sweeping robot is controlled to return according to the recorded path at the monitoring coordinate, the original path returns, when collision occurs, the switching back to the wall-following state is tried, because the collision point is also on the recorded path, if a column winding still occurs, the collision point is taken as a new detection coordinate, the original path before the sweeping robot enters the monitoring state is continued until collision occurs between the sweeping robot and the wall, at this moment, the sweeping robot can continue to follow the wall from a place separated from the wall, and the wall-following mode is the same as before, a completely closed wall-following track is formed, a running distance is preset, when the sweeping distance of the sweeping robot in the wall-following state is preset, the preset distance exceeds the preset running distance in the wall-following state, the road-following the wall-following state, the road is prevented from repeatedly walking around the new coordinate, the road is prevented from running around the road, the road is prevented from running around the road repeatedly, the road is prevented from running around the wall-following the new road, the road is the road repeatedly, the problem is prevented from running around the road, and the road is prevented from running the road repeatedly, the road-following the road on the road-following the road, if the road is a road-following the road running on the road-like a road and the road, and the road is running on the road and the road. According to the scheme, the robot can get rid of the problem in the wall-following state, the integrity of the wall-following movement is realized, and the navigation success rate of the scheme is high.
Further, the step S200: if the sweeping robot repeatedly runs on the already-passed coordinates, marking the current coordinates as detection coordinates and entering a monitoring state, wherein the method specifically comprises the following steps:
step S201: according to the repeated occurrence of the sweeping robot on one coordinate, acquiring the angle change quantity of the advancing direction of the sweeping robot between the two occurrences of the sweeping robot on the coordinate;
step S204: determining that the sweeping robot winds a column according to the angle change quantity of the advancing direction of the sweeping robot is a circle;
step S205: the current coordinates are marked as detection coordinates and a monitoring state is entered.
Specifically, in a wall-following state in a small area, such as a recess formed by a relatively close distance between the bearing post and the wall in some rooms. Under the condition that the coordinate precision used for navigation is limited, the sweeping robot can repeatedly pass through the same coordinate in the process of passing along the wall, at the moment, whether the sweeping robot is trapped around a column can be accurately distinguished by firstly judging that the sweeping robot repeatedly runs on the same coordinate and secondly judging that the sweeping robot passes through the same coordinate twice, and if the sweeping robot winds around the column, the sweeping robot is driven to rotate at least one circle in an accumulated mode when the sweeping robot passes through the same coordinate twice.
Further, the step S201: according to the repeated occurrence of the sweeping robot on one of the coordinates, after the change amount of the advancing direction angle of the sweeping robot between the two occurrences of the sweeping robot on the coordinates is obtained, step S204: determining that the sweeping robot winds before a column according to the change of the angle of the advancing direction of the sweeping robot as one circle;
step S202: according to the wall-following direction of the sweeping robot, determining that the angle change direction of the robot when the robot winds a column is clockwise or anticlockwise;
step S203: and determining that the angle change quantity is matched with the angle change direction of the robot when the robot winds the column according to the angle change quantity of the advancing direction of the sweeping robot.
For a cleaning area with a narrow part of outlets, the sweeping robot enters the area, goes along the wall, and then leaves the cleaning area from the outlet, so that misjudgment about a column may occur, for example, if the wall is at the left side of the advancing direction of the sweeping robot, the sweeping robot rotates anticlockwise when the sweeping robot winds the column, and the sweeping robot detected by the gyroscope rotates anticlockwise; also, the wall is at the left side of the advancing direction of the sweeping robot, and if the sweeping robot rotates clockwise, it means that the sweeping robot moves along the wall around an area instead of the column even if the sweeping robot rotates by one turn. For this case, first, the direction of the sweeping robot along the wall is determined, in one embodiment, the wall is on the left side of the advancing direction of the sweeping robot, then when the sweeping robot repeatedly operates at the same coordinates and the gyroscope rotates for one circle in an accumulated manner, the direction of the change seen by the sweeping robot is determined, if the sweeping robot rotates in the clockwise direction, it is stated that the sweeping robot normally walks along the wall in the cleaning area with a narrow outlet, and only if the sweeping robot accumulates for one circle in the anticlockwise rotation, the sweeping robot is trapped around the column. The scheme is favorable for accurately identifying whether the sweeping robot is trapped around the column.
Further, the step S400: in the recovery state, the sweeping robot is controlled to run to the detection coordinates, and according to the continuously recorded coordinates, the sweeping robot is controlled to walk reversely along the coordinates before running to the detection coordinates for the first time until collision occurs, and the method further comprises the following steps:
step S600: updating the detection coordinates according to the current coordinates, and recovering to a wall-following state, and if the sweeping robot repeatedly operates on the passed coordinates within a preset operating distance and the current coordinates are inconsistent with the detection coordinates, updating the detection coordinates according to the current coordinates, and entering a monitoring state.
The scheme is favorable for the robot to be trapped around the post and get rid of the trapping in the wall process, and the detection coordinates are adjusted under the trapped state so as to enhance the success rate of the robot to get rid of the trapping around the post.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored in a computer-readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. The storage medium may be a nonvolatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a random access Memory (Random Access Memory, RAM).
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
With further reference to fig. 2, as an implementation of the method shown in fig. 1, the present application provides an embodiment of a robot post-winding escape device, where the embodiment of the device corresponds to the embodiment of the method shown in fig. 1, and the device may be specifically applied to various electronic devices.
The device of getting rid of poverty around post of robot includes:
recording unit 100: for continuously recording coordinates and an advancing direction angle of the robot in the cleaning region in a wall-following state;
a repetition detection unit 200 for marking the current coordinates as detection coordinates and entering a monitoring state if the robot repeatedly operates on the already-passed coordinates;
a position contrast unit 300 for entering a recovery state if the robot repeatedly operates on the coordinates that have been already passed in the monitoring state;
a position restoring unit 400 for controlling the sweeping robot to travel to the detection coordinates in a restoring state, and controlling the sweeping robot to travel reversely along the coordinates before the first travel to the detection coordinates according to the continuously recorded coordinates until collision occurs;
and the along-wall recovery unit 500 is configured to update the detection coordinates according to the current coordinates, restore to the along-wall state, and enter the monitoring state if the sweeping robot repeatedly operates on the detection coordinates within the preset operation distance until no repeated operation of the sweeping robot occurs within the preset operation distance in the along-wall state, and empty the detection coordinates.
Compared with the prior art, the embodiment of the application has the following main beneficial effects: by setting the monitoring state and entering the monitoring state in the state that the sweeping robot is in a coordinate in the cleaning area twice, then, if the monitoring sweeping robot continuously walks repeatedly on the area in the cleaning area, the sweeping robot is indicated to enter a circulating path, the sweeping robot is switched to a recovery state at the moment, and in the recovery state, the sweeping robot is controlled to return according to the recorded path at the monitoring coordinate, the original path returns, when collision occurs, the switching back to the wall-following state is tried, because the collision point is also on the recorded path, if a column winding still occurs, the collision point is taken as a new detection coordinate, the original path before the sweeping robot enters the monitoring state is continued until collision occurs between the sweeping robot and the wall, at this moment, the sweeping robot can continue to follow the wall from a place separated from the wall, and the wall-following mode is the same as before, a completely closed wall-following track is formed, a running distance is preset, when the sweeping distance of the sweeping robot in the wall-following state is preset, the preset distance exceeds the preset running distance in the wall-following state, the road-following the wall-following state, the road is prevented from repeatedly walking around the new coordinate, the road is prevented from running around the road, the road is prevented from running around the road repeatedly, the road is prevented from running around the wall-following the new road, the road is the road repeatedly, the problem is prevented from running around the road, and the road is prevented from running the road repeatedly, the road-following the road on the road-following the road, if the road is a road-following the road running on the road-like a road and the road, and the road is running on the road and the road. According to the scheme, the robot can get rid of the problem in the wall-following state, the integrity of the wall-following movement is realized, and the navigation success rate of the scheme is high.
Further, the position comparing unit 300 specifically includes:
an angle change amount acquisition subunit 201, configured to acquire, according to repeated occurrences of the sweeping robot on one of the coordinates, an angle change amount of a forward direction of the sweeping robot between occurrences of the sweeping robot on the coordinates;
a column winding determining subunit 204, configured to determine that the sweeping robot winds a column according to the angle change amount of the advancing direction of the sweeping robot being one circle;
the monitor state entry subunit 205 is configured to mark the current coordinates as the detected coordinates, and enter the monitor state.
Further, the position comparing unit 300 further includes;
a direction determining sub-unit 203 for determining an angle change direction of the robot around the column to be clockwise or counterclockwise according to a wall-following direction of the robot;
and the direction comparison subunit 203 is configured to determine, according to the angle change amount of the advancing direction of the sweeping robot, that the angle change amount matches the angle change direction of the robot when the robot winds around the column.
Further, the scheme further comprises:
the detection point adjusting unit 600 is configured to update the detection coordinates according to the current coordinates and restore to the wall-following state, and if the sweeping robot repeatedly operates on the coordinates that have passed through within the preset operation distance and the current coordinates are inconsistent with the detection coordinates, update the detection coordinates according to the current coordinates, and enter the monitoring state.
In order to solve the technical problems, the embodiment of the application also provides computer equipment. Referring specifically to fig. 3, fig. 3 is a basic structural block diagram of a computer device according to the present embodiment.
The computer device 6 comprises a memory 61, a processor 62, a network interface 63 communicatively connected to each other via a system bus. It is noted that only computer device 6 having components 61-63 is shown in the figures, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead. It will be appreciated by those skilled in the art that the computer device herein is a device capable of automatically performing numerical calculations and/or information processing in accordance with predetermined or stored instructions, the hardware of which includes, but is not limited to, microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASICs), programmable gate arrays (fields-Programmable Gate Array, FPGAs), digital processors (Digital Signal Processor, DSPs), embedded devices, etc.
The computer equipment can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing equipment. The computer equipment can perform man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch pad or voice control equipment and the like.
The memory 61 includes at least one type of readable storage media including flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), programmable Read Only Memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the storage 61 may be an internal storage unit of the computer device 6, such as a hard disk or a memory of the computer device 6. In other embodiments, the memory 61 may also be an external storage device of the computer device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the computer device 6. Of course, the memory 61 may also comprise both an internal memory unit of the computer device 6 and an external memory device. In this embodiment, the memory 61 is generally used for storing an operating system and various application software installed on the computer device 6, such as a program code of a robot post-winding escape method. Further, the memory 61 may be used to temporarily store various types of data that have been output or are to be output.
The processor 62 may be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor, or other data processing chip in some embodiments. The processor 62 is typically used to control the overall operation of the computer device 6. In this embodiment, the processor 62 is configured to execute the program code stored in the memory 61 or process data, for example, execute the program code of the robot post-winding escape method.
The network interface 63 may comprise a wireless network interface or a wired network interface, which network interface 63 is typically used for establishing a communication connection between the computer device 6 and other electronic devices.
The present application also provides another embodiment, namely, provides a computer readable storage medium, where a robot post-winding escaping program is stored, and the robot post-winding escaping program can be executed by at least one processor, so that the at least one processor executes the steps of the robot post-winding escaping method.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), comprising several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method described in the embodiments of the present application.
It is apparent that the embodiments described above are only some embodiments of the present application, but not all embodiments, the preferred embodiments of the present application are given in the drawings, but not limiting the patent scope of the present application. This application may be embodied in many different forms, but rather, embodiments are provided in order to provide a more thorough understanding of the present disclosure. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing, or equivalents may be substituted for elements thereof. All equivalent structures made by the specification and the drawings of the application are directly or indirectly applied to other related technical fields, and are also within the protection scope of the application.
Claims (10)
1. The robot post winding escaping method is characterized by comprising the following steps of:
continuously recording coordinates and an advancing direction angle of the sweeping robot in a cleaning area in a wall-following state;
if the sweeping robot repeatedly runs on the already-passed coordinates, marking the current coordinates as detection coordinates and entering a monitoring state;
in the monitoring state, if the sweeping robot repeatedly runs on the already-passed coordinates, entering a recovery state;
in a recovery state, controlling the sweeping robot to run to a detection coordinate, and controlling the sweeping robot to walk reversely along the coordinate before the sweeping robot runs to the detection coordinate for the first time according to the continuously recorded coordinate until collision occurs;
and updating the detection coordinates according to the current coordinates, recovering to a wall-following state, and if the sweeping robot repeatedly operates on the detection coordinates within a preset operation distance, entering a monitoring state until the sweeping robot does not repeatedly operate within the preset operation distance in the wall-following state, and emptying the detection coordinates.
2. The method for getting rid of the trapped by the robot around the column according to claim 1, wherein if the sweeping robot repeatedly runs on the already-passed coordinates, the current coordinates are marked as the detection coordinates, and the monitoring state is entered, specifically comprising:
according to the repeated occurrence of the sweeping robot on one coordinate, acquiring the angle change quantity of the advancing direction of the sweeping robot between the two occurrences of the sweeping robot on the coordinate;
determining that the sweeping robot winds a column according to the angle change quantity of the advancing direction of the sweeping robot is a circle;
the current coordinates are marked as detection coordinates and a monitoring state is entered.
3. The method of claim 2, wherein the step of determining the number of turns of the sweeping robot before the winding of the column is performed according to the number of turns of the sweeping robot as one turn after the sweeping robot repeatedly appears on one of the coordinates and the amount of change in the angle of the advancing direction of the sweeping robot is obtained between two occurrences on the coordinates;
according to the wall-following direction of the sweeping robot, determining that the angle change direction of the robot when the robot winds a column is clockwise or anticlockwise;
and determining that the angle change quantity is matched with the angle change direction of the robot when the robot winds the column according to the angle change quantity of the advancing direction of the sweeping robot.
4. The method of claim 1, wherein the step controls the robot to travel to the detected coordinates in a return state, and controls the robot to travel in a reverse direction along the coordinates before the first travel to the detected coordinates according to the continuously recorded coordinates until after the collision, the method further comprising:
updating the detection coordinates according to the current coordinates, and recovering to a wall-following state, and if the sweeping robot repeatedly operates on the passed coordinates within a preset operating distance and the current coordinates are inconsistent with the detection coordinates, updating the detection coordinates according to the current coordinates, and entering a monitoring state.
5. Robot is around post device of getting rid of poverty, its characterized in that includes:
a recording unit: for continuously recording coordinates and an advancing direction angle of the robot in the cleaning region in a wall-following state;
the repeated detection unit is used for marking the current coordinate as a detection coordinate and entering a monitoring state if the sweeping robot repeatedly runs on the already-passed coordinate;
the position comparison unit is used for entering a recovery state if the sweeping robot repeatedly runs on the coordinates in the monitoring state;
the position recovery unit is used for controlling the sweeping robot to run to the detection coordinates in a recovery state, and controlling the sweeping robot to walk reversely along the coordinates before the sweeping robot runs to the detection coordinates for the first time according to the continuously recorded coordinates until collision occurs;
and the along-wall recovery unit is used for updating the detection coordinates according to the current coordinates, recovering to the along-wall state, entering a monitoring state if the sweeping robot repeatedly operates on the detection coordinates within a preset operation distance until the sweeping robot does not repeatedly operate within the preset operation distance under the along-wall state, and emptying the detection coordinates.
6. The robotic post-winding escape device of claim 5, wherein the position contrast unit comprises:
the angle change amount acquisition subunit is used for acquiring the advancing direction angle change amount of the sweeping robot between two occurrences of the sweeping robot on one coordinate according to the repeated occurrence of the sweeping robot on the coordinate;
the column winding determining subunit is used for determining the column winding of the sweeping robot according to the fact that the angle change quantity of the advancing direction of the sweeping robot is a circle;
the monitoring state entering subunit is used for marking the current coordinates as detection coordinates and entering the monitoring state.
7. The robotic post detouring device of claim 6, wherein the position contrast unit further comprises;
the direction determining subunit is used for determining the angle change direction of the robot when the robot winds the column to be clockwise or anticlockwise according to the wall-following direction of the sweeping robot;
and the direction comparison subunit is used for determining that the angle change quantity is matched with the angle change direction of the robot when the robot winds the column according to the angle change quantity of the advancing direction of the sweeping robot.
8. The robotic post-winding escape device of claim 5, further comprising:
and the detection point adjusting unit is used for updating the detection coordinates according to the current coordinates and recovering to a wall-following state, and if the sweeping robot repeatedly runs on the passed coordinates within the preset running distance and the current coordinates are inconsistent with the detection coordinates, updating the detection coordinates according to the current coordinates and entering a monitoring state.
9. A computer device comprising a memory and a processor, the memory having a computer program stored therein, characterized by: the processor, when executing the computer program, implements the steps of the robot post-winding escape method of any one of claims 1 to 4.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the robot post-winding escape method according to any one of claims 1 to 4.
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