Title:
ROBOT TRAPPING DETECTION AND DE-TRAPPING METHOD
Document Type and Number:
WIPO Patent Application WO/2021/008611
Kind Code:
A1
Abstract:
Provided are a robot (RB) trapping detection and a de-trapping method. The trapping detection method comprises: establishing a grid map, to acquire a first grid coordinate of the current position of the robot (RB) on the grid map and a second grid coordinate of the target position on the grid map, the target position being a position detected by the robot (RB) (S102); determining whether the region where the robot (RB) is located is in a closed state according to the first grid coordinate and the second grid coordinate (S104); in response to the region where the robot (RB) is located being in the closed state, determining the number of connected regions where the first grid coordinate is located (S106); in response to the connected regions where the first grid coordinate is greater than or equal to two, acquiring the closed sweeping area of the region where the first grid coordinate is located (S108); and determining whether the robot (RB) is trapped in a narrow region according to the closed sweeping area (S110). Whether the robot (RB) is trapped can be detected quickly and timely, therefore, the effective sweeping efficiency of the robot (RB) is improved, and energy loss of the system is lowered.
Inventors:
ZHOU XIANWEI (CN)
ZENG GUOWEI (CN)
ZHENG ZHUOBIN (CN)
WANG LILEI (CN)
ZENG GUOWEI (CN)
ZHENG ZHUOBIN (CN)
WANG LILEI (CN)
Application Number:
PCT/CN2020/102738
Publication Date:
January 21, 2021
Filing Date:
July 17, 2020
Export Citation:
Assignee:
GUANGDONG BONA ROBOT CORP LTD (CN)
International Classes:
A47L11/40
Foreign References:
| CN110448241A | 2019-11-15 | |||
| CN107943025A | 2018-04-20 | |||
| CN108553041A | 2018-09-21 | |||
| CN109827592A | 2019-05-31 | |||
| CN102599862A | 2012-07-25 | |||
| CN109528089A | 2019-03-29 | |||
| CN108490955A | 2018-09-04 | |||
| CN108469816A | 2018-08-31 | |||
| US20180107226A1 | 2018-04-19 |
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