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A method of sweeping along the edge of a sweeping robot based on inertial navigation

A technology of sweeping robot and inertial navigation, applied in the field of edge-sweeping robot sweeping based on inertial navigation, can solve the problems of inability to effectively deal with the looping process, inability to adapt to different color walls, and short service life of collision sensors. Detects the effects of rapidity, good robustness and adaptability, and low cost

Active Publication Date: 2021-07-13
HUNAN GRAND PRO ROBOT TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention provides an edge-cleaning control algorithm with high wall adaptability and rapid wall detection, which can solve the problem of the short service life of the collision sensor of the sweeping robot sold on the market, the reduced reliability of the whole machine, and the inability to Adapt to different color walls, low cleaning coverage, and cannot effectively deal with the problems of circling and false detection of idling

Method used

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  • A method of sweeping along the edge of a sweeping robot based on inertial navigation
  • A method of sweeping along the edge of a sweeping robot based on inertial navigation
  • A method of sweeping along the edge of a sweeping robot based on inertial navigation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] A sweeping robot cleaning method along the edge based on inertial navigation, see figure 1 , figure 2 , image 3 , including the following steps:

[0039] S1. The sweeping robot enters the initial state and walks in a straight line at full speed in the current direction until it triggers the hard collision sensor located at the front of the sweeping robot. Realized by three infrared sensors at the front end of the sweeping robot;

[0040] S2. The hard collision sensor feeds back to the control module. The control module controls the sweeping robot to retreat at full speed by 15mm, and then finds the wall according to the set angle of turning in the opposite direction along the wall. The clock hand turns 30°), the control module synchronously sends scanning signals to multiple soft collision sensors located at the front end of the sweeping robot, and multiple soft collision sensors feed back the trigger time t, current angle and initial trigger angle of the wall-find...

Embodiment 2

[0067] (1) Turn on the sweeping robot; see figure 1 ;

[0068] (2) The sweeping robot starts to walk in a straight line at full speed to find the wall until a hard or soft collision is triggered;

[0069] (3) The sweeping robot retreats 15mm at full speed to avoid;

[0070] (4) The sweeping robot adjusts the angle, turns on the spot, turns left along the wall clockwise, and right turns counterclockwise along the wall. If a hard collision is triggered, execute (3), otherwise until it is parallel to the wall;

[0071] (5) The sweeping robot calls the PID module along the wall to calculate the wheel speed to walk along the wall. If a hard collision occurs, execute (3). If it is judged to be circling, execute (7). If the signal along the wall is lost, execute ( 6);

[0072] (6) The sweeping robot looks for the wall inside, walks straight for 50mm, and then turns to the side along the wall with a radius of 180mm. If a hard collision occurs, execute (3). If the signal is recovere...

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Abstract

The invention discloses a sweeping robot cleaning method based on inertial navigation, comprising the following steps: S1, the sweeping robot walks in a straight line until the hard collision sensor is triggered; S2, after the sweeping robot retreats by 15 mm, it turns 30 in the opposite direction along the wall ° to find the wall, during which multiple soft collision sensors feed back the trigger time, current angle and initial trigger angle of the wall search process to the control module, and the control module judges the trigger time, and the angle difference between the current angle and the initial trigger angle, When the trigger time is greater than 100ms or the angle difference is greater than 45°, the control module judges that the forward direction of the sweeping robot is parallel to the wall; S3, the control module calls the PID module along the wall to control the sweeping robot to walk straight along the wall; S4, walking along the wall in a straight line , the control module calls the circle module to judge the circle and get out of trouble. The present invention has high adaptability to the wall and rapid detection of the wall.

Description

technical field [0001] The invention belongs to the technical field of sweeping machine cleaning methods, and in particular relates to a sweeping robot edge cleaning method based on inertial navigation. Background technique [0002] The cleaning planning method along the edge of the sweeping robot currently on the market has the following defects. (1) During the process from detecting the wall through the collision sensor (front block) to entering the edge walking (walking along the wall in a straight line), continuous collisions are required. , generating a lot of noise seriously affects the user experience and rapidly reduces the life of the collision sensor and reduces the reliability of the whole machine; (2) When walking along the side, the requirements for the wall are high, and most current technologies cannot adapt to walls of different colors. (3) The distance along the edge is unstable, and the distance depends on the setting of the threshold value of the infrared ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A47L11/00A47L11/24
CPCA47L11/00A47L11/24A47L11/4011A47L11/4061
Inventor 张驰洲詹伟
Owner HUNAN GRAND PRO ROBOT TECH
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