CN118266803A - Road planning and getting rid of poverty method for sweeping robot - Google Patents
Road planning and getting rid of poverty method for sweeping robot Download PDFInfo
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- CN118266803A CN118266803A CN202410553739.9A CN202410553739A CN118266803A CN 118266803 A CN118266803 A CN 118266803A CN 202410553739 A CN202410553739 A CN 202410553739A CN 118266803 A CN118266803 A CN 118266803A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 219
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000011065 in-situ storage Methods 0.000 claims abstract description 27
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 description 5
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- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
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Abstract
The invention provides a path planning escape method of a sweeping robot, which is characterized in that a sweeping robot is started to execute a sweeping mode, if collision is detected, the sweeping robot enters a first escape mode, the driving wheels at the left end and the right end of the sweeping robot are driven to rotate in situ at the same linear speed in opposite directions, if collision is not detected, the sweeping robot enters a continuous sweeping mode, if collision is detected, the sweeping robot enters a second escape mode, one side of the sweeping robot is used for driving the driving wheels to be motionless, the other side of the sweeping robot is driven to move forward, if collision is not detected, the sweeping robot enters a continuous sweeping mode, if collision is detected, the sweeping robot enters a third escape mode, the driving wheels with larger linear speed drive the sweeping robot are driven to cross an obstacle, if collision is not detected, the sweeping mode is entered, and if collision is detected, the sweeping robot enters the first escape mode to escape mode.
Description
Technical Field
The invention relates to the technical field of application of sweeping robots, in particular to a path planning escaping method of a sweeping robot.
Background
The robot for cleaning, dust collection and floor wiping is commonly called an intelligent floor sweeping robot, and the intelligent floor sweeping robot can automatically complete a cleaning task in a room by means of a certain artificial intelligence technology, generally adopts a brushing and vacuum mode, and absorbs the ground sundries into a self garbage storage box, so that the function of cleaning the ground is completed.
The existing robot walks through two left and right driving wheels, and in the running process of the robot, obstacles can be encountered, and how the robot encounters the obstacles and gets rid of the obstacles can be judged.
Closest to the prior art, publication No.: CN109464075A discloses a cleaning control method for a sweeping robot, which comprises the steps of controlling the sweeping robot to collide with an obstacle once, backing a fixed distance, adjusting the machine body to rotate until the running direction of the sweeping robot is consistent with the contour line of the obstacle or the tangential direction of the contour line, and maintaining the distance between the sweeping robot and the obstacle in the later running process.
However, since the obstacles are dense, the machine can generate continuous collision and steering, and the steering direction and angle are fixed, so that the machine can always circle in an area, and therefore, a escaping algorithm suitable for the sweeper is provided for solving the problems.
Disclosure of Invention
The invention provides a path planning escape method of a sweeping robot, which is characterized in that a sweeping robot is started to execute a sweeping mode, if collision is detected, the sweeping robot enters a first escape mode, the driving wheels at the left end and the right end of the sweeping robot are driven to rotate in situ at the same linear speed in opposite directions, if collision is not detected, the sweeping robot enters a continuous sweeping mode, if collision is detected, the sweeping robot enters a second escape mode, one side of the sweeping robot is used for driving the driving wheels to be motionless, the other side of the sweeping robot is driven to move forward, if collision is not detected, the sweeping robot enters a continuous sweeping mode, if collision is detected, the sweeping robot enters a third escape mode, the driving wheels with larger linear speed drive the sweeping robot are driven to cross an obstacle, if collision is not detected, the sweeping mode is entered, and if collision is detected, the sweeping robot enters the first escape mode to escape mode.
A method for planning and getting rid of poverty of a path of a sweeping robot, wherein the method comprises the following steps:
step S1, starting a sweeping robot to execute a sweeping mode, and if collision is detected, entering a getting-out mode, and then turning to step S2;
Step S2, the first escape mode includes: the same linear speed of the driving wheels at the left end and the right end of the sweeping robot and the rotating speed in the opposite directions enable the driving sweeping robot to rotate in situ, so that the driving direction of the sweeping robot is parallel to the contour line of the obstacle or the tangent line of the contour line to get rid of the obstacle, if no collision is detected, the sweeping mode is continuously started, and if the collision is detected, the step S3 is started;
Step S3, entering a second escape mode, wherein one driving wheel of the sweeping robot is fixed, one driving wheel is moved forward by the aid of a strategy that the other driving wheel is moved forward, the driving wheel passes over an obstacle first, if collision is not detected, the sweeping mode is continuously entered, and if collision is detected, the step S4 is carried out;
S4, a step of S4; and entering a third escape mode, wherein the third escape mode utilizes different linear speeds of driving wheels at the left end and the right end of the sweeping robot and the rotating speed in the same direction to enable the driving wheel with larger linear speed to drive the sweeping robot to cross an obstacle, if no collision is detected, entering a continuous sweeping mode, and if the collision is detected, turning to step S2.
Further, in step S1, if the robot enters the escape mode for 1min and is escaping, the robot performs an alarm process.
Further, the specific operation steps of the first escape mode are as follows: the linear speed of the driving wheel at the left end of the sweeping robot is recorded as VL, the linear speed of the driving wheel at the right end of the sweeping robot is recorded as VR, the linear speed of the VL is adjusted to 30cm/S, the linear speed of the VR is adjusted to-30 cm/S, the sweeping robot in-situ rotation time T A S is detected and judged whether collision is not detected, if collision is not detected, a continuous sweeping mode is entered, if collision is detected, the linear speed of the VL is adjusted to-30 cm/S, the linear speed of the VR is adjusted to 30cm/S, the in-situ rotation time T B S of the sweeping robot is reached, T A is equal to T B, whether collision is not detected is detected, if collision is not detected, the continuous sweeping mode is entered, and if collision is detected, the step S3 is entered.
Further, the T A and T B are 2s.
Further, the specific operation steps of the second escape mode are as follows: the linear speed of the driving wheel at the left end of the sweeping robot is recorded as VL, the linear speed of the driving wheel at the right end of the sweeping robot is recorded as VR, the linear speed of the VL is adjusted to 0cm/S, the linear speed of the VR is adjusted to 30cm/S, the sweeping robot in-situ rotation time T C S is detected and judged whether collision is not detected, if collision is not detected, a continuous sweeping mode is entered, if collision is detected, the linear speed of the VL is adjusted to 30cm/S, the linear speed of the VR is adjusted to 0cm/S, the in-situ rotation time T D S of the sweeping robot is reached, T C is equal to T D, whether collision is not detected is detected or not is detected, if collision is not detected, the continuous sweeping mode is entered, and if collision is detected, the step S4 is entered.
Further, the T C and T D are 3s.
Further, the specific operation steps of the third escape mode are as follows: the linear speed of the driving wheel at the left end of the sweeping robot is recorded as VL, the linear speed of the driving wheel at the right end of the sweeping robot is recorded as VR, the linear speed of the VL is adjusted to-10 cm/S, the linear speed of the VR is adjusted to-30 cm/S, the sweeping robot in-situ rotation time T E S is detected and judged whether collision is not detected, if collision is not detected, the sweeping mode is continuously entered, if collision is detected, the linear speed of the VL is adjusted to 10cm/S, the linear speed of the VR is adjusted to 30cm/S, the in-situ rotation time T F S of the sweeping robot is reached, T E is equal to T F, whether collision is not detected is detected, if collision is not detected, the sweeping mode is continuously entered, and if collision is detected, the sweeping mode is shifted to step S2.
Further, the T E and T F are 3s.
Further, the method for detecting collision by the sweeping robot comprises the following steps:
Step A: acquiring linear speeds of driving wheels at the left and right ends of the sweeping robot at the time points T0, T1 and T2 respectively, recording the linear speeds as VL0 and VR0, VL1 and VR1, VL2 and VR2, taking average recording average speeds of VL0, VL1 and VL2 as VL average, taking average recording average linear speeds of VR0, VR1 and VR2 as VR average, acquiring angles of the driving wheels at the left and right ends of the sweeping robot at the time points T0, T1 and T2 respectively as R0G, R G and R2G, and acquiring moving distances of the driving wheels at the left and right ends of the sweeping robot at the time points T1 and T2 respectively as D1 and D2;
and B, recording the distances between two circle centers of driving wheels at the left end and the right end of the sweeping robot as d, setting the angular speed Rset as the ratio of the difference between VL average and VR average to d, and judging that the sweeping robot is trapped if RacL is larger than the average value of the sum of Rset and RacL if the actual angular speed RacL is the ratio of the difference between R0G and R1G to the moment T1 and the moment T2.
Further, in step A, VL0 and VR0, VL1 and VR1, VL2 and VR2 are average values of 4-5 times of speed recording within 100ms, so as to eliminate delay errors caused by acceleration or deceleration.
Further, in the step B, the center point of d is the center point of gravity of the sweeping robot.
Further, in the step a, the angles of the driving wheels at the left and right ends of the sweeping robot are attitude angles detected by the gyroscopes, and are measured by the sweeping machine body attitude measuring unit.
Further, in the step A, the moving distance of the driving wheels at the left and right ends of the sweeping robot is obtained through SLM positioning.
Further, the method further comprises the step C of judging that the roadblock is right in front of the sweeping robot and entering a positioning judgment mode if the angles of the driving wheels at the left end and the right end of the sweeping robot at the moments T0, T1 and T2 are not obtained.
Further, the specific steps of the positioning judgment mode are as follows: the difference between the time T1 and the time T2 is multiplied by the average value of the sum of the VL average and the VR average to obtain a set value DSET, the actual Dacc is the difference between the time D1 and the time D2, and if the DSET is larger than Dacc, the robot is judged to be trapped.
Further, in step C, the positioning determination mode further includes determining output currents of the driving wheels at the left and right ends of the sweeping robot, and if the output currents of the driving wheels at the left and right ends of the sweeping robot increase, it is determined that the sweeping robot is trapped.
The invention has the beneficial effects that: the invention provides a path planning escape method of a sweeping robot, which is characterized in that a sweeping robot is started to execute a sweeping mode, if collision is detected, the sweeping robot enters a first escape mode, the driving wheels at the left end and the right end of the sweeping robot are driven to rotate in situ at the same linear speed in opposite directions, if collision is not detected, the sweeping robot enters a continuous sweeping mode, if collision is detected, the sweeping robot enters a second escape mode, one side of the sweeping robot is used for driving the driving wheels to be motionless, the other side of the sweeping robot is driven to move forward, if collision is not detected, the sweeping robot enters a continuous sweeping mode, if collision is detected, the sweeping robot enters a third escape mode, the driving wheels with larger linear speed drive the sweeping robot are driven to cross an obstacle, if collision is not detected, the sweeping mode is entered, and if collision is detected, the sweeping robot enters the first escape mode to escape mode.
Drawings
Fig. 1 is a schematic flow chart of a path planning escaping method of a sweeping robot.
The invention will be further described in the following detailed description in conjunction with the above-described figures.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example 1:
As shown in fig. 1, a method for planning and getting rid of a trapped road by a robot path for sweeping floor, wherein the method comprises the following steps:
A method for planning and getting rid of poverty of a path of a sweeping robot, wherein the method comprises the following steps:
Step S1, starting the sweeping robot to execute a sweeping mode, entering a escaping mode if collision is detected, and if escaping is still carried out after entering the escaping mode for 1min, carrying out alarm processing by the sweeping robot, and then turning to step S2;
Step S2, the first escape mode includes: the same linear speed of the driving wheels at the left end and the right end of the sweeping robot and the rotating speed in opposite directions enable the driving sweeping robot to rotate in situ, so that the driving direction of the sweeping robot is parallel to the contour line of the obstacle or the tangent line of the contour line to get rid of the trapping, if no collision is detected, the sweeping mode is continuously entered, if the collision is detected, the step S3 is entered, and the specific operation steps of the first getting rid of the trapping mode are as follows: the linear speed of the driving wheel at the left end of the sweeping robot is recorded as VL, the linear speed of the driving wheel at the right end of the sweeping robot is recorded as VR, the linear speed of the VL is adjusted to 30cm/S, the linear speed of the VR is adjusted to-30 cm/S, the sweeping robot in-situ rotation time T A S is detected and judged whether collision is not detected, if collision is not detected, a continuous sweeping mode is entered, if collision is detected, the linear speed of the VL is adjusted to-30 cm/S, the linear speed of the VR is adjusted to 30cm/S, the in-situ rotation time T B S of the sweeping robot is reached, T A is equal to T B, whether collision is not detected is detected, if collision is not detected, the continuous sweeping mode is entered, and if collision is detected, the steps S3 are entered, and T A and T B are 2S.
Step S3, entering a second escape mode, wherein one driving wheel of the sweeping robot is fixed, one driving wheel is moved forward by the aid of a driving wheel advancing strategy, the driving wheel passes over an obstacle first, if collision is not detected, the sweeping mode is continuously entered, and if collision is detected, the step S4 is entered, and the specific operation steps of the second escape mode are as follows: the linear speed of the driving wheel at the left end of the sweeping robot is recorded as VL, the linear speed of the driving wheel at the right end of the sweeping robot is recorded as VR, the linear speed of the VL is adjusted to 0cm/S, the linear speed of the VR is adjusted to 30cm/S, the sweeping robot in-situ rotation time T C S is detected and judged whether collision is not detected, if collision is not detected, a continuous sweeping mode is entered, if collision is detected, the linear speed of the VL is adjusted to 30cm/S, the linear speed of the VR is adjusted to 0cm/S, the in-situ rotation time T D S of the sweeping robot is reached, T C is equal to T D, whether collision is not detected is detected or not is detected, if collision is not detected, the sweeping robot in-situ rotation time T C S is reached, and if collision is detected, the sweeping robot in-situ rotation time T C and T D S is 3S.
S4, a step of S4; entering a third escape mode, wherein the third escape mode utilizes different linear speeds of driving wheels at the left end and the right end of the sweeping robot and the rotating speed in the same direction to enable the driving wheel with larger linear speed to pass through an obstacle, if no collision is detected, the cleaning mode is continuously entered, and if the collision is detected, the operation steps of the third escape mode are as follows: the linear speed of the driving wheel at the left end of the sweeping robot is recorded as VL, the linear speed of the driving wheel at the right end of the sweeping robot is recorded as VR, the linear speed of the VL is adjusted to-10 cm/S, the linear speed of the VR is adjusted to-30 cm/S, the sweeping robot in-situ rotation time T E S is detected and judged whether collision is not detected, if collision is not detected, the sweeping robot enters a continuous sweeping mode, if collision is detected, the linear speed of the VL is adjusted to 10cm/S, the linear speed of the VR is adjusted to 30cm/S, the in-situ rotation time T F S of the sweeping robot is detected, T E is equal to T F, whether collision is not detected is detected or not is detected, if collision is not detected, the sweeping robot enters the continuous sweeping mode, if collision is detected, the sweeping robot goes to step S2, and the T E and T F are 3S.
Further, the method for detecting collision by the sweeping robot comprises the following steps:
Step A: acquiring linear speeds of driving wheels at the left and right ends of the sweeping robot at the time points T0, T1 and T2 respectively, recording the linear speeds as VL0 and VR0, VL1 and VR1, VL2 and VR2, taking average recording average speeds of VL0, VL1 and VL2 as VL average, taking average recording average linear speeds of VR0, VR1 and VR2 as VR average, acquiring angles of the driving wheels at the left and right ends of the sweeping robot at the time points T0, T1 and T2 respectively as R0G, R G and R2G, and acquiring moving distances of the driving wheels at the left and right ends of the sweeping robot at the time points T1 and T2 respectively as D1 and D2; VL0 and VR0, VL1 and VR1, VL2 and VR2 are all the average value of the speeds recorded within 100ms for 4-5 times, so that the delay error caused by acceleration or deceleration is eliminated, the angles of the driving wheels at the left end and the right end of the sweeping robot are attitude angles detected by gyroscopes, the moving distances of the driving wheels at the left end and the right end of the sweeping robot are obtained through SLM positioning through the measurement of a sweeping machine body attitude measuring unit.
And B, recording the distance between two circle centers of driving wheels at the left end and the right end of the sweeping robot as d, wherein the center point of d is the center of gravity point of the sweeping robot, setting the angular speed Rset as the ratio of the difference value between VL average and VR average to d, and judging that the sweeping robot is trapped if RacL is larger than the average value of the sum of Rset and RacL when the actual angular speed RacL is the ratio of the difference value between R0G and R1G to the moment T1 and the moment T2.
Step C, if the angles of the driving wheels at the left end and the right end of the sweeping robot at the moments T0, T1 and T2 are not obtained, judging that the roadblock is right in front of the sweeping robot, and entering a positioning judging mode, wherein the specific steps of the positioning judging mode are as follows: the average value of the sum of the VL average and the VR average is multiplied by the difference between the time T1 and the time T2 to obtain a set value DSET, the actual Dacc is the difference between the time D1 and the time D2, if the DSET is larger than Dacc, the robot is judged to be trapped, the positioning judgment mode also comprises output current judgment of driving wheels at the left end and the right end of the robot, and if the output current of the driving wheels at the left end and the right end of the robot is increased, the robot is judged to be trapped.
The invention has the beneficial effects that: the invention provides a path planning escape method of a sweeping robot, which is characterized in that a sweeping robot is started to execute a sweeping mode, if collision is detected, the sweeping robot enters a first escape mode, the driving wheels at the left end and the right end of the sweeping robot are driven to rotate in situ at the same linear speed in opposite directions, if collision is not detected, the sweeping robot enters a continuous sweeping mode, if collision is detected, the sweeping robot enters a second escape mode, one side of the sweeping robot is used for driving the driving wheels to be motionless, the other side of the sweeping robot is driven to move forward, if collision is not detected, the sweeping robot enters a continuous sweeping mode, if collision is detected, the sweeping robot enters a third escape mode, the driving wheels with larger linear speed drive the sweeping robot are driven to cross an obstacle, if collision is not detected, the sweeping mode is entered, and if collision is detected, the sweeping robot enters the first escape mode to escape mode.
While the application has been disclosed in terms of various aspects and embodiments, other aspects and embodiments will be apparent to those skilled in the art in view of this disclosure, and many changes and modifications can be made without departing from the spirit of the application. The various aspects and embodiments of the present application are disclosed for illustrative purposes only and are not intended to limit the application, the true scope of which is set forth in the following claims.
Claims (10)
1. A method for planning and getting rid of poverty of a path of a sweeping robot, wherein the method comprises the following steps:
step S1, starting a sweeping robot to execute a sweeping mode, and if collision is detected, entering a getting-out mode, and then turning to step S2;
Step S2, the first escape mode includes: the same linear speed of the driving wheels at the left end and the right end of the sweeping robot and the rotating speed in the opposite directions enable the driving sweeping robot to rotate in situ, so that the driving direction of the sweeping robot is parallel to the contour line of the obstacle or the tangent line of the contour line to get rid of the obstacle, if no collision is detected, the sweeping mode is continuously started, and if the collision is detected, the step S3 is started;
Step S3, entering a second escape mode, wherein one driving wheel of the sweeping robot is fixed, one driving wheel is moved forward by the aid of a strategy that the other driving wheel is moved forward, the driving wheel passes over an obstacle first, if collision is not detected, the sweeping mode is continuously entered, and if collision is detected, the step S4 is carried out;
S4, a step of S4; and entering a third escape mode, wherein the third escape mode utilizes different linear speeds of driving wheels at the left end and the right end of the sweeping robot and the rotating speed in the same direction to enable the driving wheel with larger linear speed to drive the sweeping robot to cross an obstacle, if no collision is detected, entering a continuous sweeping mode, and if the collision is detected, turning to step S2.
2. The method for path planning and escaping of the sweeping robot according to claim 1, wherein the steps of: in step S1, if the robot enters the escaping mode and remains for 1min, the robot is alerted.
3. The method for path planning and escaping of the sweeping robot according to claim 1, wherein the steps of: the specific operation steps of the first escape mode are as follows: the linear speed of the driving wheel at the left end of the sweeping robot is recorded as VL, the linear speed of the driving wheel at the right end of the sweeping robot is recorded as VR, the linear speed of the VL is adjusted to 30cm/S, the linear speed of the VR is adjusted to-30 cm/S, the sweeping robot in-situ rotation time T A S is detected and judged whether collision is not detected, if collision is not detected, a continuous sweeping mode is entered, if collision is detected, the linear speed of the VL is adjusted to-30 cm/S, the linear speed of the VR is adjusted to 30cm/S, the in-situ rotation time T B S of the sweeping robot is reached, T A is equal to T B, whether collision is not detected is detected, if collision is not detected, the continuous sweeping mode is entered, and if collision is detected, the step S3 is entered.
4. The method for path planning and escaping of the sweeping robot according to claim 1, wherein the steps of: the specific operation steps of the second escape mode are as follows: the linear speed of the driving wheel at the left end of the sweeping robot is recorded as VL, the linear speed of the driving wheel at the right end of the sweeping robot is recorded as VR, the linear speed of the VL is adjusted to 0cm/S, the linear speed of the VR is adjusted to 30cm/S, the sweeping robot in-situ rotation time T C S is detected and judged whether collision is not detected, if collision is not detected, a continuous sweeping mode is entered, if collision is detected, the linear speed of the VL is adjusted to 30cm/S, the linear speed of the VR is adjusted to 0cm/S, the in-situ rotation time T D S of the sweeping robot is reached, T C is equal to T D, whether collision is not detected is detected or not is detected, if collision is not detected, the continuous sweeping mode is entered, and if collision is detected, the step S4 is entered.
5. The method for path planning and escaping of the sweeping robot according to claim 1, wherein the steps of: the third escape mode comprises the following specific operation steps: the linear speed of the driving wheel at the left end of the sweeping robot is recorded as VL, the linear speed of the driving wheel at the right end of the sweeping robot is recorded as VR, the linear speed of the VL is adjusted to-10 cm/S, the linear speed of the VR is adjusted to-30 cm/S, the sweeping robot in-situ rotation time T E S is detected and judged whether collision is not detected, if collision is not detected, the sweeping mode is continuously entered, if collision is detected, the linear speed of the VL is adjusted to 10cm/S, the linear speed of the VR is adjusted to 30cm/S, the in-situ rotation time T F S of the sweeping robot is reached, T E is equal to T F, whether collision is not detected is detected, if collision is not detected, the sweeping mode is continuously entered, and if collision is detected, the sweeping mode is shifted to step S2.
6. The method for path planning and escaping of the sweeping robot according to claim 1, wherein the steps of: the method for detecting collision by the sweeping robot comprises the following steps:
Step A: acquiring linear speeds of driving wheels at the left and right ends of the sweeping robot at the time points T0, T1 and T2 respectively, recording the linear speeds as VL0 and VR0, VL1 and VR1, VL2 and VR2, taking average recording average speeds of VL0, VL1 and VL2 as VL average, taking average recording average linear speeds of VR0, VR1 and VR2 as VR average, acquiring angles of the driving wheels at the left and right ends of the sweeping robot at the time points T0, T1 and T2 respectively as R0G, R G and R2G, and acquiring moving distances of the driving wheels at the left and right ends of the sweeping robot at the time points T1 and T2 respectively as D1 and D2;
and B, recording the distances between two circle centers of driving wheels at the left end and the right end of the sweeping robot as d, setting the angular speed Rset as the ratio of the difference between VL average and VR average to d, and judging that the sweeping robot is trapped if RacL is larger than the average value of the sum of Rset and RacL if the actual angular speed RacL is the ratio of the difference between R0G and R1G to the moment T1 and the moment T2.
7. The method for path planning and escaping of the sweeping robot according to claim 1, wherein the steps of: in step A, VL0 and VR0, VL1 and VR1, VL2 and VR2 are averages of 4-5 recordings of speeds within 100ms to eliminate delay errors due to acceleration or deceleration.
8. The method for path planning and escaping of the sweeping robot according to claim 1, wherein the steps of: in the step B, the center point of d is the center point of gravity of the sweeping robot.
9. The method for path planning and escaping of the sweeping robot according to claim 1, wherein the steps of: in the step A, the angles of the driving wheels at the left end and the right end of the sweeping robot are attitude angles detected by a gyroscope, the moving distances of the driving wheels at the left end and the right end of the sweeping robot are obtained through SLM positioning through the measurement of an attitude measuring unit of a sweeping machine body.
10. The method for path planning and escaping of the sweeping robot according to claim 1, wherein the steps of: and C, if the angles of the driving wheels at the left end and the right end of the sweeping robot at the moments T0, T1 and T2 are not obtained, judging that the roadblock is right in front of the sweeping robot, and entering a positioning judging mode, wherein the specific steps of the positioning judging mode are as follows: the average value of the sum of the VL average and the VR average is multiplied by the difference between the time T1 and the time T2 to obtain a set value DSET, the actual Dacc is the difference between the time D1 and the time D2, if the DSET is larger than Dacc, the robot is judged to be trapped, the positioning judgment mode also comprises output current judgment of driving wheels at the left end and the right end of the robot, and if the output current of the driving wheels at the left end and the right end of the robot is increased, the robot is judged to be trapped.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410553739.9A CN118266803A (en) | 2024-05-07 | 2024-05-07 | Road planning and getting rid of poverty method for sweeping robot |
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|---|---|---|---|
| CN202410553739.9A CN118266803A (en) | 2024-05-07 | 2024-05-07 | Road planning and getting rid of poverty method for sweeping robot |
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| CN118266803A true CN118266803A (en) | 2024-07-02 |
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