Detecting method for trapped floor-cleaning robot

Abstract

The invention provides a detecting method for a trapped floor-cleaning robot. The method comprises the steps that (1) four ultrasonic sensors and four distance measuring sensors are uniformly arranged around the robot body; (2) when a start signal is detected, the floor-cleaning robot starts to work; (3) the ultrasonic sensors are started to carry out obstacle detection to acquire obstacle information; (4) whether an obstacle is in front is detected, and if so, whether obstacles are in rear, left and right directions is detected in turn; and (5) whether the distance between an obstacle and the robot body reaches a preset value. According to the step (5), if the preset value is not reached, the distance between the obstacle and the robot body is acquired again; if the preset value is reached, a main motor drives the robot body to move in an obstacle-free direction; and if obstacles are in all four directions, the step of trap dispensing is carried out. According to the invention, the working floor-cleaning robot can bypass obstacles, or is prevented from direct collision when cleaning dead corners; the movement trajectory of the robot body is acquired through image recognition analysis when the floor-cleaning robot body is trapped; and the method helps the robot body to automatically get rid of trap.

Description

technical field [0001] The invention relates to the technical field of automation control, in particular to a detection method for a sweeping robot being trapped. Background technique [0002] Sweeping robot, also known as automatic cleaning machine, intelligent vacuum cleaner, robot vacuum cleaner, etc., is a kind of smart household appliances, which can automatically complete the floor cleaning work in the room by virtue of certain artificial intelligence. Generally, brushing and vacuuming are used to absorb the debris on the ground into its own garbage storage box, so as to complete the function of ground cleaning. Because of its easy-to-operate functions and convenience, it has gradually become popular nowadays and has become a common household appliance for office workers or modern families. The body is a movable device with automation technology, and the vacuum cleaner with a dust box, cooperates with the body to set the control path, and walks repeatedly in the room,...

AI Technical Summary

Problems solved by technology

[0003] The invention patent with the publication number of CN 105011866 discloses a sweeping robot, including a main cleaning machine for cleaning and storing garbage, and a sub-cleaning machine for moving garbage. The sub-cleaning machine is detachably installed on the main cleaning machine. There is wireless communication between the cleaning machine and the main cleaning machine. There is a sensor in front of the main cleaning machine of the sweeping robot, which can detect obstacles. If it encounters a wall or other obstacles, it will turn by itself, but only when the main cleaning machine Sensors are installed at the front to detect obstacles. If the main cleaning machine or sub-cleaning machine is stuck, the user can only find it and manually solve the problem. In general, the place where the sweeping robot gets stuck may be the bed, cabinet , The place under the sofa is not easy to enter, which brings a lot of inconvenience to the user

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