Anti-collision detection method of floor mopping robot

Abstract

The invention provides an anti-collision detection method of a floor mopping robot. The method comprises following steps that S1, the floor mopping robot with MEMS devices (an accelerometer and a gyroscope) are arranged, when the floor mopping robot is in the straight line motion state, and the collision condition happens, the S2 is executed, when the floor mopping robot is in the jolt uneven roadsurface condition, the S3 is executed, and when the floor mopping robot is in the rotating motion state, and a barrier blocks the robot, the S4 is executed; S2, the Newton's second law V=a*t is used,when the floor mopping robot is started to walk, positive direction acceleration is carried out, when the robot hits against the object, negative acceleration is achieved, and acceleration during uniform motion is zero; when collision happens, the gyroscope is adopted to correct the horizontal acceleration numerical value of the floor mopping robot. Different correction manners are used for carrying out collision detection and correcting, the floor mopping robot can normally and stably run, the design structure is reasonable, and the technical effect is obvious.

Description

[technical field] [0001] The invention relates to the technical field of sweeping robot products, in particular to an anti-collision detection method for a sweeping robot with reasonable structural design, good use effect and high detection accuracy. [Background technique] [0002] In recent years, sweeping robot products have been rapidly promoted and applied, not only in terms of structure but also in terms of specific functions. There has been a substantial technological improvement. Because it can automatically clean and collect debris in the house, and has a certain degree of intelligence level, so the prospects for the use of sweeping robots are very prominent. [0003] At present, the sweeping robot products widely used generally use collision sensors to sense the external state, and provide corresponding feedback according to the sensed collision situation, and take corresponding measures. However, the current technology has many shortcomings. , such as insufficient...

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Problems solved by technology

[0003] At present, the sweeping robot products widely used generally use collision sensors to sense the external state, and provide corresponding feedback according to the sensed collision situation, and take corresponding measures. However, the current technology has many deficiencies. , such as insufficient sensing accuracy, single structural design, and insufficient functions, etc., restrict the further promotion of the product. Based on this, technicians in the field have carried out a lot of research and development and experiments, starting from the specific anti-collision detection method Improve and improve, and achieve better results

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