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Cliff detection method and sweeping robot

A sweeping robot and a detection method technology, applied in the field of mobile robots, can solve the problems of affecting cleaning work and prone to misjudgment in dark or black floor areas, so as to ensure full coverage, improve accuracy, and solve misjudgments or missed judgments problem effect

Pending Publication Date: 2021-10-12
HUNAN GRAND PRO ROBOT TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Based on this, the embodiment of the present invention provides a cliff detection method and a sweeping robot to solve the problem that the existing cliff detection method is prone to misjudgment in dark or black floor areas, which affects the normal cleaning work

Method used

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  • Cliff detection method and sweeping robot
  • Cliff detection method and sweeping robot
  • Cliff detection method and sweeping robot

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Embodiment Construction

[0044] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0045] Such as figure 1 As shown, a cliff detection method provided by an embodiment of the present invention is applied to a sweeping robot, and specifically includes the following steps:

[0046] Step S10, when the sweeping robot enters the walking mode, turn on the infrared emitter to emit infrared light, and start the first timer at the same time.

[0047] Wherein, the first timer is used to record the reflection time of the infrared light emitted by the infrared emitter and reflected by the ground to reach the infrared receiver, and the timing time of the fir...

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Abstract

The invention discloses a cliff detection method and a sweeping robot. The method comprises the following steps: starting an infrared transmitter to emit infrared light when the sweeping robot enters a walking mode, and starting a first timer for timing; when the intensity of the infrared light received by the infrared receiver reaches a preset light intensity value, turning off the infrared transmitter and the first timer, and resetting the first timer to zero after reading the time on the first timer; when the infrared emitter meets a starting triggering condition, starting the infrared emitter and the first timer again, and when the intensity of the infrared light received by the infrared receiver reaches the preset light intensity value, turning off the infrared emitter and the first timer and reading the time on the first timer; and judging whether a cliff is found or not according to the time on the first timer in the two consequent timing. According to the method, the problem of misjudgment or missed judgment easily caused when the ground distance is judged through the infrared light reflection intensity is solved, the accuracy of cliff detection is improved, and full coverage of a cleaning area of the robot is guaranteed.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a cliff detection method and a sweeping robot. Background technique [0002] With the development of science and technology and the pursuit of a comfortable life, people's demand for intelligent sweeping robots is becoming stronger and stronger, and at the same time, the expectations and requirements for intelligent sweeping robots are also getting higher and higher. [0003] When the sweeping robot cleans the room, it may encounter rooms with steps, stairs or height differences. Facing a room with a cliff area, the sweeping robot needs to accurately detect and find the cliff during walking, and react back to avoid the sweeping robot from falling. [0004] At present, the cliff detection method used for sweeping robots is to form a detection device through one or more sets of infrared light emitting tubes and receiving tubes, and judge whether there is a cliff by the inten...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0242
Inventor 宋良平苟潇华
Owner HUNAN GRAND PRO ROBOT TECH
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