CN101916110A - Sweeping robot and walking control method for same - Google Patents
Sweeping robot and walking control method for same Download PDFInfo
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- CN101916110A CN101916110A CN 201010251088 CN201010251088A CN101916110A CN 101916110 A CN101916110 A CN 101916110A CN 201010251088 CN201010251088 CN 201010251088 CN 201010251088 A CN201010251088 A CN 201010251088A CN 101916110 A CN101916110 A CN 101916110A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 203
- 238000000034 method Methods 0.000 title claims abstract description 61
- 238000004140 cleaning Methods 0.000 claims abstract description 118
- 238000006243 chemical reaction Methods 0.000 claims abstract description 49
- 238000010926 purge Methods 0.000 claims description 57
- 230000005693 optoelectronics Effects 0.000 claims description 48
- 210000003128 head Anatomy 0.000 claims description 43
- 210000001747 pupil Anatomy 0.000 claims description 23
- 239000000523 sample Substances 0.000 claims description 17
- 230000004888 barrier function Effects 0.000 claims description 14
- 230000001960 triggered effect Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 5
- 239000012467 final product Substances 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
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Abstract
The invention provides a sweeping robot and a walking control method for the same. The method comprises the following steps of: mounting a plane mirror on a wall of a room to be swept, wherein a vertical non-reflective surface is arranged in the center of the plane mirror; the normal direction of the non-reflective surface is the positive direction of an X axis; a horizontal direction parallel to the plane mirror is the direction of a Y axis; and the central point of the vertical non-reflective surface is the original point of the X axis and the Y axis; calibrating the walking direction of the sweeping robot and the position of the original point according to the change of reflected laser which is transmitted to the plane mirror by a laser transmitter and received by a photoelectric conversion receiving head; calculating the walking distance of the sweeping robot in the X and Y directions by using a control module of the sweeping robot and positioning the sweeping robot on an indoor ground; and according to the positioning in a walking process, recording swept areas and identifying un-swept areas to finish the full sweeping of the indoor ground. The sweeping robot and the walking control method can realize a high-efficiency cleaning task and have a low cost.
Description
Technical field
The present invention relates to the automatic control technology field, particularly relate to the ambulation control method of a kind of sweeping robot and sweeping robot.
Background technology
At present, full-automatic indoor floor-sweeping machine device people extensively promotes the use of on market.In order to control cost, most sweeping robots rely on infrared or ultrasonic probe detecting obstacles thing, and decipherment distance again in conjunction with some algorithm routines, to formulate at indoor walking control strategy, reaches the zone of the required cleaning of basic covering.The greatest problem that the method for prior art is brought is inefficiency, shows as sweeping robot walking and seems and do not have rule, and each indoor zone can be repeated to clean 4 to 5 times usually, and often individual areas is not cleaned for 1 time yet.Some sweeping robot, use such as high precision GPRS global satellite positioning, laser projection are in conjunction with technology such as CCD digital light electrical image sensor technology, high-precision electronic compass, though realized the efficient planning of cleaning stroke, but its cost is several times even tens multiplication length, and the ability to accept in market also reduces greatly.
In a word, need the urgent technical matters that solves of those skilled in the art to be exactly: how a kind of walking control technology of sweeping robot can be provided, carry out high efficiency cleaning stroke planning, and cost be lower.
Summary of the invention
Technical matters to be solved by this invention provides a kind of ambulation control method of sweeping robot, under the prerequisite that guarantees suitable cost, realizes high efficiency cleaning task.
In order to address the above problem, the invention discloses a kind of sweeping robot, comprising: wheel, wheel drive motors, cleaning part, two generating lasers, six opto-electronic conversion receive head and control module;
Described cleaning part is arranged on fuselage direction of motion front end;
The fuselage both sides vertical with direction of motion generating laser of installation and three opto-electronic conversion of symmetry respectively receive head; Described generating laser is a LED point-like laser transmitter, and the Laser emission direction is vertical with direction of motion; On fuselage one side, wherein two opto-electronic conversion reception heads are used for diffuse reflection detected laser, are installed in the both sides of LED point-like laser transmitter exit pupil position on the fuselage; Another opto-electronic conversion receives head and is used to demarcate direction of travel, be installed in the generating laser exit pupil position directly over the slit rear end parallel with the Laser emission direction, when fuselage direction of motion is parallel with plane mirror, receive the reflector laser that incides plane mirror;
Described control module is used for the walking of sweeping robot is controlled.
The invention also discloses a kind of ambulation control method of sweeping robot in addition, the artificial sweeping robot as claimed in claim 1 of described sweeping machine; Described method comprises:
One plane mirror is installed on the metope in cleaning chamber, and setting height(from bottom) guarantees that laser incides on the minute surface; Wherein, described plane mirror central authorities are provided with a vertical not reflective surface; The normal direction at reflective surface place is not the X-axis positive dirction, and the horizontal direction parallel with plane mirror is Y direction, and the vertical not central point of reflective surface is the initial point on X, Y plane;
Receive the variation that a generating laser that receives incides the reflector laser of plane mirror according to opto-electronic conversion, demarcate the direction of travel of sweeping robot and the position of initial point; Described direction of travel comprises: directions X and Y direction;
Calculate the travel distance of sweeping robot by the control module of sweeping robot, sweeping robot is positioned at indoor terrace in X, Y direction;
Sweeping robot carries out the orthogonal walking cleaning in X, Y plane, according to the location in the walking process, the zone that cleaning covers finished in record, and discerns the not zone of cleaning, and comprehensive cleaning of finishing indoor terrace covers.
Preferably, the direction of travel of described demarcation sweeping robot comprises:
A1, sweeping robot is by beginning walking in the inlet chamber of optional position;
A2 when the opto-electronic conversion reception head that is used for diffuse reflection detected receives reflector laser, judges that the generating laser emitted laser incides on the plane mirror, then controls sweeping robot and halts;
A3, sweeping robot rotates fuselage in the original place with low-angle;
A4 when the opto-electronic conversion that is used to demarcate direction of travel receives head and receives reflector laser by the slit on the fuselage, judges that laser vertical incides plane mirror, and the direction of determining current walking is the Y direction, and the direction vertical with the Y direction is directions X.
Further, the angle of incident laser on the plane mirror face and incidence point normal is an entering angle, and the zone that the normal of minute surface both sides of edges and minute surface surround is that angle is judged the district; Do not judge the district if the generating laser exit pupil position enters angle as yet, then this entering angle is for negative; Judge the district if the generating laser exit pupil position enters angle, then claim this entering angle for just;
If entering angle is for just, then described steps A 3 is:
Sweeping robot directly rotates fuselage in the original place with low-angle, and the opto-electronic conversion reception head in slit receives direct reflection laser and is triggered;
If entering angle is for negative, then described steps A 3 is:
Sweeping robot rotates fuselage in the original place with low-angle, when the opto-electronic conversion that is used for diffuse reflection detected laser receives lossing signal, and control sweeping robot reverse rotation one angle;
The opto-electronic conversion that runs to diffuse reflection detected laser once more receives head and receives reflector laser, and current entering angle is for just;
Sweeping robot rotates fuselage in the original place with low-angle, and the opto-electronic conversion reception head in slit receives direct reflection laser and is triggered.
Preferably, the position of described demarcation initial point comprises:
B1, the direction of determining current walking is after the Y direction, sweeping robot advances once more in the direction;
B2 is when the reflector laser of three opto-electronic conversion receptions of fuselage one side head reception is all lost, with the position zero clearing of sweeping robot on Y-axis;
B3, sweeping robot make 90 degree to the plane mirror direction and turn to, and advance afterwards until running to the metope termination, determine the initial point of this point for X, Y plane.
Preferably, describedly sweeping robot is positioned, comprising at indoor terrace:
C1, sweeping robot be along advancing with the direction of directions X or Y direction or retreat, and according to the rotation step number of the stepper motor or the servomotor of sweeping robot drive wheels, calculates the travel distance on X-axis and Y direction;
C2 according to the travel distance on X-axis and the Y direction, determines the coordinate of sweeping robot on X, Y plane, and sweeping robot is positioned.
Preferably, described sweeping robot carries out the orthogonal walking cleaning in X, Y plane, comprising:
D1, after beginning just marching forward preset distance from initial point along X-axis, left/right side does 90 degree and turns to; Described preset distance is the width of cleaning face;
D2 carries out the demarcation of direction of travel and the position zero clearing of Y-axis;
D3 with the upper starting point that is changed to of current X-axis, advances along the Y direction and to clean, and stops until running into barrier;
D4, the distance of advancing according to this time of being write down is retracted into starting point on the X-axis along original route;
D5, to the right/left side does 90 degree and turns to, and returns step D1;
D6, the execution in step that circulates successively D1～D5 finishes the cleaning in territory, X-axis one lateral areas until the forward border that arrives X-axis, is retracted into the forward frontier point on the X-axis;
D7, left/dextrorotation turn 90 degrees, advances along the X-axis negative sense, until arriving initial point;
D8, the execution in step that circulates successively D1～D5 finishes the cleaning in X-axis opposite side zone until the forward border that arrives X-axis; Wherein, angle turns to opposite with the cleaning in territory, a last lateral areas.
Preferably, described according to the location in the walking process, the zone that cleaning covers finished in record, comprising:
Sweeping robot is finished when being retracted into X-axis along Y direction cleaning at every turn, the purging zone that record is finished when time cleaning works;
Wherein, described purging zone is wide with sweeping robot cleaning face width degree, perpendicular to the strip zone of X-axis; The record of described purging zone is included in the position of X-axis positive dirction and the position of advancing and stopping on Y-axis positive dirction or negative sense.
Preferably, the both sides on the described sweeping robot fuselage are provided with infrared or ultrasonic probe; The zone that then described identification is not cleaned, comprehensive cleaning of finishing indoor terrace covers, and comprising:
E1 has cleaned along the Y direction and to be retracted in the X-axis process, has can enter space and this area of space and do not have the cleaning record time when infrared or ultrasonic probe detect a last purging zone direction, and sweeping robot halts, and this halt is as covering halt;
E2, the purging zone direction that makes progress in original place, current covering halt place is done 90 degree and is turned to;
E3, the walking of advancing stops until the zone boundary that arrives barrier or a certain cleaning record;
E4, the distance of advancing according to this time of being write down returns to the covering halt along original route;
E5 after turning 90 degrees, retreats the distance of cleaning face width degree in the other direction;
E1～E5 step is carried out in circulation, can not enter the space until probe detection to a last purging zone direction, finishes not purging zone covering.
Preferably, the zone that described identification is not cleaned, comprehensive cleaning of finishing indoor terrace covers, and also comprises:
F1 finishes the cleaning of orthogonal walking to indoor terrace, when the Y direction walk, calls the record of with current purging zone corresponding next purging zone of last orthogonal walking in cleaning in cleaning process next time;
F2, cleaned along the Y direction and to be retracted in the X-axis process, had and can enter the space when infrared or ultrasonic probe detect described next purging zone direction, and when not having corresponding cleaning record in the cleaning of last orthogonal walking, sweeping robot halts, and this halt is as covering halt;
F3 does 90 degree in original place, current covering halt place to next purging zone direction and turns to;
F4 moves ahead and comes into, the purging zone border of a certain record in arriving barrier or last orthogonal walking and stopping;
F5, the distance of advancing according to this time of being write down returns to the covering halt along original route;
F6 after turning 90 degrees, retreats the distance of cleaning face width degree in the other direction;
F1～F5 step is carried out in circulation, can not enter the space until probe detection to next purging zone direction, finishes not purging zone covering.
Compared with prior art, the present invention has the following advantages:
The sweeping robot ambulation control method that the present invention proposes, use LED generating laser at a low price, opto-electronic conversion to receive head, plane mirror, with the Autonomous Control ability is arranged, by the existing sweeping robot combination of stepping/driven by servomotor wheel walking, the direction control when having solved the sweeping robot walking and the difficult problem of position reference.By carrying out the orthogonal walking course of work, sweeping robot can cover indoor most zones.By the control of path planning efficiently, significantly improved the work efficiency of unit interval sweeping robot, avoided the zone of repeating to clean and the zone of omission.
Further, the both sides on the described sweeping robot fuselage are provided with infrared or ultrasonic probe, are used for finding to enter the space, by the walking in this space, can realize the zone cleaning after indoor barrier blocks the space.
Description of drawings
Fig. 1 is the structural representation of a kind of sweeping robot embodiment of the present invention;
Fig. 2 is the process flow diagram of the ambulation control method embodiment of a kind of sweeping robot of the present invention;
Fig. 3 is the front elevation of the described a kind of plane mirror of the embodiment of the invention;
Fig. 4 is the vertical view of the described a kind of plane mirror of the embodiment of the invention;
Fig. 5 is the principle schematic of entering angle;
Fig. 6 is a schematic diagram of demarcating the direction of travel of sweeping robot;
Fig. 7 is the synoptic diagram of the position zero clearing process of sweeping robot on Y-axis;
Fig. 8 is the synoptic diagram of sweeping robot in indoor positioning;
Fig. 9 is the synoptic diagram that sweeping robot carries out the orthogonal walking cleaning;
Figure 10 is according to the overlayable room area figure of the described ambulation control method of the embodiment of the invention;
Figure 11 is that sweeping robot carries out the purging zone figure that the orthogonal walking cleaning is write down in the embodiment of the invention;
Figure 12 is the purging zone figure that sweeping robot is finished occlusion area in orthogonal walking in the embodiment of the invention;
Figure 13 is the areal map that sweeping robot is finished comprehensive cleaning covering of indoor terrace in the embodiment of the invention;
Among the figure: 1, the reflective mirror part of plane mirror; 2, the not reflective surface of plane mirror; 3, the vertical normal direction of reflective surface not; 4, the horizontal direction parallel with plane mirror; 5, LED point-like laser transmitter; 6, opto-electronic conversion receives head; 7, wheel; 8, stepper motor/servomotor; 9, Electric brush of bristles roller; 10, sweeping robot; 11, slit; 12, incident laser; 13, reflector laser; 14, entering angle; 15, sweeping robot working direction; 16, the deflection of incident laser forward direction; 17, the purging zone finished of orthogonal walking cleaning works process; 18, the purging zone of finishing at the occlusion area of not cleaning.
Embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, the present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Sweeping robot will be realized efficient orderly indoor cleaning, and key is that robot needs object of reference when indoor positioning, needs high-precision direction to instruct during walking, also has finishing and do not finish the identification of purging zone.In order in more acceptant cost interval, market, to solve walking control problem, the present invention proposes a kind of sweeping robot ambulation control method, adopt inexpensive relatively sensor-based system and more effective algorithm routine, make sweeping robot have the high precision direction to guide indoor, accurate localization can be to the perform region identification record.Thereby efficiently finish indoor cleaning works.
Referring to Fig. 1, show the structural representation of a kind of sweeping robot embodiment of the present invention; Wherein, Fig. 1 (a) is the one-piece construction figure of sweeping robot; Fig. 1 (b) is the structure for amplifying synoptic diagram of a side of sweeping robot.Described robot comprises: wheel, wheel drive motors, cleaning part, two generating lasers, six opto-electronic conversion receive head and control module.
Described cleaning part is arranged on fuselage direction of motion front end, and cleaning part described in the present embodiment is an Electric brush of bristles rod 9;
Fuselage both sides vertical with direction of motion generating laser 5 of installation of symmetry and three opto-electronic conversion respectively receive 6; Described generating laser is a LED point-like laser transmitter, and the Laser emission direction is vertical with direction of motion; On fuselage one side, wherein two opto-electronic conversion reception heads are used for diffuse reflection detected laser, are installed in the both sides of generating laser exit pupil position on the fuselage; Another opto-electronic conversion receives head and is used to demarcate direction of travel (hereinafter to be referred as orientation), be installed in the generating laser exit pupil position directly over the slit rear end parallel with the Laser emission direction, when fuselage direction of motion is parallel with plane mirror, receive the reflector laser that incides plane mirror;
Described control module is used for the walking of sweeping robot is controlled.
Concrete, the wheel 7 of described sweeping robot 10 is driven by stepper motor that drives the sweeping robot wheel or servomotor 8, wheel 7 both can make sweeping robot 10 along straight ahead or retreat, and also can make sweeping robot is center of circle rotation in the original place with two wheelspan centers.The Electric brush of bristles roller 9 of the same fuselage width of installing on the sweeping robot is used for when sweeping robot advances, by high speed rotating cleaning ground.
Further, described generating laser is a light beam LED generating laser; Described opto-electronic conversion receives the emission light co-wavelength of head and generating laser.The described reception head that is used for diffuse reflection detected laser is installed in car body surface, keeps a determining deviation to get final product with the generating laser exit pupil position.Be used for directed reception head behind the slit directly over the generating laser exit pupil position on the sweeping robot fuselage, receive a lens center over against slit central authorities.During concrete enforcement, can offer one widely 3 millimeters, the degree of depth is 3 centimetres of slits.
Need to prove that will promptly focus on the outwards laser of projection of back through transmitter lens to emergent pupil laser when generating laser is installed, the slit 11 with leaving on the sweeping robot fuselage carries out the calibration of the depth of parallelism.Suppose the trend of the slit of leaving on the sweeping robot fuselage 11, with the verticality of fuselage in processing, be guaranteed.Then the Calibration Method of slit and emergent pupil laser parallel degree is, at first chooses a ground flat degree error in per mille, the indoor environment that length is 10 meters, and promptly flatness dwelling house up to standard gets final product behind the paving ground.At 10 meters length one ends the plane mirror of a vertical ground is set, the other end is parallel with the plane mirror face at the ground snap the line.Opto-electronic conversion received slit 11 central authorities that leave on 6 the lens center aligned sweeping robot fuselage and install, this receives head and is used for orientation, and sweeping robot 10 is placed on snap the line position, ground, and its working direction is parallel with the ground snap the line.Can finely tune the emergent pupil direction of LED point-like laser transmitter 5 up and down, be triggered by the plane mirror laser light reflected until being used for directed reception head, this moment, the depth of parallelism calibration of emergent pupil laser and slit was finished.The reception head that is used for diffuse reflection detected laser, be installed in the fuselage surface of both sides, LED point-like laser transmitter 5 exit pupil position, with the spacing distance of exit pupil position, in 2 degree, the reception head that diffuse reflection laser can trigger any side is as the criterion and is provided with projecting laser and minute surface normal angle.
With reference to Fig. 2, show the process flow diagram of the ambulation control method embodiment of a kind of sweeping robot of the present invention, described method comprises:
Step 201 is installed a plane mirror on the metope in cleaning chamber, setting height(from bottom) guarantees that laser incides on the minute surface; Wherein, described plane mirror central authorities are provided with a vertical not reflective surface, and the normal direction at reflective surface place is not the X-axis positive dirction, and the horizontal direction parallel with plane mirror is Y direction, and the vertical not central point of reflective surface is the initial point on X, Y plane;
As shown in Figure 3, be the front elevation of the described a kind of plane mirror of the embodiment of the invention.In this embodiment, the reflective mirror part 1 of plane mirror, width is 10 centimetres, highly is 7 centimetres.To be cut into 3 mm wides, 7 centimetres high not reflectorized material sticks on the minute surface centre, forms the not reflective surface 2 of plane mirror.
As shown in Figure 4, be the vertical view of the described a kind of plane mirror of the embodiment of the invention.The vertical normal direction 3 of reflective mirror not, i.e. the X-axis positive dirction of virtual 2 dimensional planes of indoor terrace, the horizontal direction 4 parallel, the i.e. Y direction of virtual 2 dimensional planes of indoor terrace with the plane mirror face.
Concrete, with indoor terrace virtual be 2 dimensional planes, on indoor length or Width, choose indoor termination metope, initial point with more similar X-axis and the Y-axis as virtual 2 dimensional planes of sweeping robot height, install one towards indoor plane mirror at this vertical ground, can make on plane mirror setting height(from bottom) center and the sweeping robot institute's installation generating laser emergent pupil (generating laser lens) position contour.When determining the direction of X-axis and position, should note beginning from zero point, all need the space that enough sweeping robots carry out 180 degree rotations along axis between the other end metope.
Step 202 receives the variation that a generating laser that receives incides the reflector laser of plane mirror according to opto-electronic conversion, demarcates the direction of travel of sweeping robot and the position of initial point; Described direction of travel comprises: directions X and Y direction;
This step determines that to the direction and the initial point of sweeping robot walking this method is a kind of method of utilizing laser alignment degree and direct reflection assigned direction.Concrete, the direction of travel of described demarcation sweeping robot comprises following substep:
A1, sweeping robot is by beginning walking in the inlet chamber of optional position;
General, the inceptive direction walking of sweeping robot can be set, make it along the direction vertical with X-axis, i.e. Y direction is in the inlet chamber of optional position.
A2 when the opto-electronic conversion reception head that is used for diffuse reflection detected receives reflector laser, judges that the generating laser emitted laser incides on the plane mirror, then controls sweeping robot and halts;
When sweeping robot during near the X-axis position, the generating laser emission laser of being installed, when treating laser radiation to plane mirror, minute surface produces a small amount of diffuse reflection laser, then be installed on the sweeping robot with this generating laser homonymy, the opto-electronic conversion that is used for diffuse reflection detected laser receives the control system that head will detect reflector laser and output signal to sweeping robot inside, then controls sweeping robot and stops walking.
A3, sweeping robot rotates fuselage in the original place with low-angle;
A4 when the opto-electronic conversion that is used to demarcate direction of travel receives head and receives reflector laser by the slit on the fuselage, judges that laser vertical incides plane mirror, and the direction of determining current walking is the Y direction, and the direction vertical with the Y direction is directions X.
The angle of incident laser on the plane mirror face and incidence point normal is an entering angle, and the zone that the normal of minute surface both sides of edges and minute surface surround is that angle is judged the district.Sweeping robot is judged district's walking to angle outside angle judgement district, if the generating laser exit pupil position enters angle judgement district as yet, laser incides on the reflective mirror, and then this entering angle is for negative; Judge the district if the generating laser exit pupil position enters angle, laser incides on the reflective mirror, then claims this entering angle for just.
Sweeping robot is entered by other positions needs the indoor of cleaning, perhaps in the orthogonal walking course of work, the capital is owing to ground flat degree error, two or more drive wheels external diameter error, respectively take turns the equal factor of friction force, cause and to keep direction very exactly, cause the deflection of working direction in the walking process.Usually this deviation is no more than 1%, about 0.57 degree, and 1 meter of promptly every walking, 1 centimetre of the deviation of directivity can cumulative departure but continue walking.
As shown in Figure 5, be the principle schematic of entering angle; Wherein, Fig. 5 (a) is whole principle schematic; Fig. 5 (b) is local amplification principle synoptic diagram.When the X-axis of sweeping robot near indoor two-dimensional virtual plane, when being the vertical normal direction of plane mirror face 3 positions, incident laser 12 projects the edge of the reflective mirror part 1 of plane mirror, and reflector laser 13 triggers and is installed in the opto-electronic conversion that is used for diffuse reflection detected laser on the sweeping robot fuselage and receives 6.At this moment, sweeping robot 10 stops, and the angle that the vertical normal direction 3 with the plane mirror face of incident laser 12 forms is called entering angle 14.
Sweeping robot enters the orientation program subsequently, and target is to make generating laser emergent pupil direction parallel with the plane mirror normal direction, and this moment, enough strong direct reflection laser rays entered the slit on the fuselage, is used for directed photoelectricity reception head thereby trigger.
If entering angle is for just, then described steps A 3 is: sweeping robot directly rotates fuselage in the original place with low-angle, and the opto-electronic conversion in slit receives head and receives direct reflection laser and be triggered.
That is to say under entering angle is positive situation, when fuselage rotates to incident laser vertical incidence minute surface, enough strong reflector laser will enter the slit on the fuselage and trigger opto-electronic conversion and receive head, this moment, sweeping robot stopped the rotation, the direction of walking determines that the sweeping robot direction of travel is vertical with virtual X-direction.After this sweeping robot in an indoor meeting according to this direction and vertical with it direction, promptly along with virtual X, Y-axis is parallel or the direction that overlaps is advanced or retreat.
If entering angle is for negative, then described steps A 3 is: sweeping robot rotates fuselage in the original place with low-angle, when the opto-electronic conversion that is used for diffuse reflection detected laser receives lossing signal, and control sweeping robot reverse rotation one angle; The opto-electronic conversion that runs to diffuse reflection detected laser once more receives head and receives reflector laser, and current entering angle is for just; Sweeping robot rotates fuselage in the original place with low-angle, and the opto-electronic conversion reception head in slit receives direct reflection laser and is triggered.
That is to say that in entering angle be under the situation about bearing, when fuselage rotates to 3 mm wides in the laser incident minute surface not during reflective surface, the opto-electronic conversion that is used for diffuse reflection detected laser receives a lossing signal, the sweeping robot control system determines entering angle for negative, then controls sweeping robot reverse rotation one low-angle extremely just to adjust entering angle.The opto-electronic conversion that runs to diffuse reflection detected laser once more receives head and receives reflector laser, is that positive method travel direction is proofreaied and correct according to incident angle.
As shown in Figure 6, be the schematic diagram of the direction of travel of demarcating sweeping robot.This figure with entering angle for just describing.Fuselage is slowly rotated in sweeping robot 10 original places, make the incidence point of incident laser 12 on the plane mirror face continue to move along fuselage working direction 15, the incident laser forward direction is carried out deflection, when incident laser 12 vertical incidence minute surfaces, enough strong reflector laser 13 will enter the slit of leaving on the sweeping robot fuselage 11 and trigger opto-electronic conversion and receive 6, this moment, sweeping robot 10 stopped the rotation, and the direction of walking is determined.
Further, the position of described demarcation initial point comprises following substep:
B1, the direction of determining current walking is after the Y direction, the control sweeping robot advances once more in the direction;
At this moment, be used for opto-electronic conversion reception head directed and that be used for diffuse reflection detected and all can receive reflector laser.
B2 is when three opto-electronic conversion reception reflector lasers that receive of fuselage one side are lost, with the position zero clearing of sweeping robot on Y-axis;
As shown in Figure 7, be the synoptic diagram of the position zero clearing process of sweeping robot on Y-axis.After sweeping robot 10 direction of travel are determined, move on, move to not reflective surface 2 of plane mirror central authorities until incident laser 12.Be used for diffuse reflection detected laser and directed opto-electronic conversion this moment and receive 6 meeting lossing signal simultaneously, sweeping robot 10 stops, and overlaps with virtual X-axis in LED point-like laser transmitter 5 exit pupil positions, this position, and this process is called Y direction apart from the zero clearing program.
B3, sweeping robot make 90 degree to the plane mirror direction and turn to, and advance afterwards until running to the metope termination, determine that this point is the initial point for X, Y plane.
Turn to and advance until running to the metope termination after finishing, be the origin position at plane mirror place, in this moment sweeping robot control system about the relative recording zero setting of travel distance.
Step 203 is calculated the travel distance of sweeping robot in X, Y direction by the control module of sweeping robot, at indoor terrace sweeping robot is positioned;
Sweeping robot is on direction of travel and the given basis of finishing of initial point in the method for indoor positioning, by calculating the sweeping robot method that travel distance is located on virtual X, Y direction.Sweeping robot is walked by stepping or driven by servomotor wheel, uses the given driving step number of single-chip microcomputer to rotate corresponding angle because stepping or servomotor rotate, and therefore can calculate travel distance according to stepping or servomotor rotation step number.Concrete, described sweeping robot being positioned at indoor terrace specifically comprises following substep:
C1, sweeping robot be along advancing with the direction of directions X or Y direction or retreat, and according to the rotation step number of the stepper motor or the servomotor of sweeping robot drive wheels, calculates the travel distance on X-axis and Y direction;
C2 according to the travel distance on X-axis and the Y direction, determines the coordinate of sweeping robot on X, Y plane, and sweeping robot is positioned.
That is to say, after direction of travel is demarcated, sweeping robot an indoor meeting along with virtual X, Y-axis is parallel or the direction that overlaps is advanced or retreat.And turn to all is to utilize the differential principle to carry out 90 degree to turn in the original place.By calculating, can determine the coordinate of sweeping robot on virtual 2 dimensional planes, thereby realize that sweeping robot is in indoor location in the X-axis and the distance of on Y direction, walking.
Referring to Fig. 8, be the synoptic diagram of sweeping robot in indoor positioning.As shown in the figure, in a typical indoor environment, choose a side head metope mounting plane reflective mirror, the vertical normal direction 3 of plane mirror face is an indoor terrace virtual two-dimensional plane X direction of principal axis, with reflective mirror parallel direction 4, be the Y direction of virtual 2 dimensional planes of indoor terrace.Sweeping robot 10 an indoor meeting along with virtual X, Y-axis is parallel or the direction that overlaps is advanced or retreat.And turn to all is to utilize the differential principle to carry out 90 degree to turn in the original place.As shown in the figure, by calculating, can determine the coordinate of sweeping robot on virtual 2 dimensional planes, thereby realize that sweeping robot is in indoor location in the X-axis and the distance of on Y direction, walking.
Wherein, described sweeping robot carries out the orthogonal walking cleaning in X, Y plane, specifically comprise following substep:
D1, just marching forward preset distance along X-axis after, left/right side does 90 degree and turn to; Described preset distance is the width of cleaning face;
Set the distance of at every turn advancing according to sweeping robot cleaning face width degree, can guarantee the continuity of purging zone.
D2 carries out the demarcation of direction of travel and the position zero clearing of Y-axis;
D3 with the upper starting point that is changed to of current X-axis, advances along the Y direction and to clean, and stops until running into barrier;
D4, the distance of advancing according to this time of being write down is retracted into starting point on the X-axis along original route;
D5, to the right/left side does 90 degree and turns to, and returns step D1;
D6, the execution in step that circulates successively D1～D5 finishes the cleaning in territory, X-axis one lateral areas until the forward border that arrives X-axis, is retracted into the forward frontier point on the X-axis;
D7, left/dextrorotation turn 90 degrees, advances along the X-axis negative sense, until arriving initial point;
In this moment sweeping robot control system about the relative recording zero setting of travel distance.
D8, the execution in step that circulates successively D1～D5 finishes the cleaning in X-axis opposite side zone until the forward border that arrives X-axis; Wherein, angle turns to opposite with the cleaning in territory, a last lateral areas.
Need to prove, after sweeping robot is finished the cleaning in territory, X-axis one lateral areas, also can not be retracted into initial point, but from the forward frontier point of X-axis to the cleaning of walking of the direction of initial point, then at this moment, behind the execution of step D6, left/the dextrorotation turnback, carry out the walking cleaning of Y direction again, repeat no more herein.
Further, sweeping robot is to determine in the direction of walking at the complete overlapping control method of indoor walking, and on the basis that obtains effectively to locate, in the orthogonal walking course of work, utilization is to the record in the zone of finishing cleaning works, the cleaning works zone is not finished in identification, thereby reaches the method that covers fully in the cleaning chamber.
Concrete, described according to the location in the walking process, the zone that cleaning covers finished in record, comprising:
Sweeping robot is finished when being retracted into X-axis along Y direction cleaning at every turn, the purging zone that record is finished when time cleaning works; Wherein, described purging zone is wide with sweeping robot cleaning face width degree, perpendicular to the strip zone of X-axis; The record of described purging zone is included in the position of X-axis positive dirction and the position of advancing and stopping on Y-axis positive dirction or negative sense.
That is to say, record to the zone of finishing cleaning works, be meant in the base program of sweeping robot walking work, when returning X-axis after finish with Y-axis parallel direction walking work on the each edge of sweeping robot, the zone that time cleaning works is finished worked as in the control system record of sweeping robot inside.
As shown in Figure 9, carry out the synoptic diagram of orthogonal walking cleaning for sweeping robot.The dash area performance is the zone of finishing cleaning works that the sweeping robot control system can be noted at every turn among the figure, promptly is equal to sweeping robot cleaning face width degree, perpendicular to the strip zone of virtual X-axis.
Need to prove that usually indoor terrace is an areas with irregular, carries out indoor cleaning by step D1～D8, may make some zone because the blocking of barrier (after barrier), and sweeping robot is entered.Then in one embodiment of the invention, the both sides on the described sweeping robot fuselage are provided with infrared or ultrasonic probe; The zone that then described identification is not cleaned, comprehensive cleaning of finishing indoor terrace covers, and comprising:
E1 has cleaned along the Y direction and to be retracted in the X-axis process, has can enter space and this area of space and do not have the cleaning record time when infrared or ultrasonic probe detect a last purging zone direction, and sweeping robot halts, and this halt is as covering halt;
E2, the purging zone direction that makes progress in original place, current covering halt place is done 90 degree and is turned to;
E3, the walking of advancing stops until the zone boundary that arrives barrier or a certain cleaning record;
E4, the distance of advancing according to this time of being write down returns to the covering halt along original route;
E5 after turning 90 degrees, retreats the distance of cleaning face width degree in the other direction;
E1～E5 step is carried out in circulation, can not enter the space until probe detection to a last purging zone direction, finishes not purging zone covering.
Be understandable that, sweeping robot is for purging zone not (zone of being blocked by barrier) when covering work is finished, returning the covering halt for the last time, the anti-phase side of a purging zone that makes progress is finished 90 degree and is turned to, become after the fallback state on the Y direction, then turn back in the base program of sweeping robot orthogonal walking cleaning works.
Above-mentioned substep has been finished and has been positioned at after the barrier, the cleaning of the occlusion area of purging zone one side, in some cases, occlusion area is positioned at not purging zone one side, then in another preferred embodiment of the present invention, by the zone that described identification is not cleaned, comprehensive cleaning of finishing indoor terrace covers, and also comprises:
F1 finishes the cleaning of orthogonal walking to indoor terrace, when the Y direction walk, calls the record of with current purging zone corresponding next purging zone of last orthogonal walking in cleaning in cleaning process next time;
F2, cleaned along the Y direction and to be retracted in the X-axis process, had and can enter the space when infrared or ultrasonic probe detect described next purging zone direction, and when not having corresponding cleaning record in the cleaning of last orthogonal walking, sweeping robot halts, and this halt is as covering halt;
F3 does 90 degree in original place, current covering halt place to next purging zone direction and turns to;
F4 moves ahead and comes into, the zone boundary of a certain cleaning record in arriving barrier or last orthogonal walking and stopping;
F5, the distance of advancing according to this time of being write down returns to the covering halt along original route;
F6 after turning 90 degrees, retreats the distance of cleaning face width degree in the other direction;
F1～F5 step is carried out in circulation, can not enter the space until probe detection to next purging zone direction, finishes not purging zone covering.
As shown in figure 10, for according to the overlayable room area figure of the described ambulation control method of the embodiment of the invention.Its figure empty is partly finished purging zone 17 for the orthogonal walking course of work of sweeping robot control system record, and the purging zone 18 of dash area for finishing at the occlusion area of not cleaning.
Figure 11 is that sweeping robot carries out the purging zone figure that the orthogonal walking cleaning is write down in the embodiment of the invention.After also promptly rejecting furniture, the zone of purging zone 17 formation that surrounds that the orthogonal walking cleaning works process of sweeping robot control system record is finished, this zone reality by shown in Fig. 9 continuous, constitute perpendicular to the strip zone of virtual X-axis.
Figure 12 is the purging zone figure that sweeping robot is finished occlusion area in orthogonal walking in the embodiment of the invention; After rejecting furniture, the purging zone 18 at the occlusion area of not cleaning is finished is made of the discontinuous strip zone that is parallel to virtual X-axis.
Figure 13 is that sweeping robot is finished the areal map that the comprehensive cleaning to indoor terrace covers in the embodiment of the invention.Also promptly, Figure 13 is the composite diagram in Figure 11 and zone shown in Figure 12.
More than to the ambulation control method of a kind of sweeping robot provided by the present invention and sweeping robot, be described in detail, used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (10)
1. a sweeping robot is characterized in that, comprising: wheel, wheel drive motors, cleaning part, two generating lasers, six opto-electronic conversion receive head and control module;
Described cleaning part is arranged on fuselage direction of motion front end;
The fuselage both sides vertical with direction of motion generating laser of installation and three opto-electronic conversion of symmetry respectively receive head; Described generating laser is a LED point-like laser transmitter, and the Laser emission direction is vertical with direction of motion; On fuselage one side, wherein two opto-electronic conversion reception heads are used for diffuse reflection detected laser, are installed in the both sides of LED point-like laser transmitter exit pupil position on the fuselage; Another opto-electronic conversion receives head and is used to demarcate direction of travel, be installed in the generating laser exit pupil position directly over the slit rear end parallel with the Laser emission direction, when fuselage direction of motion is parallel with plane mirror, receive the reflector laser that incides plane mirror;
Described control module is used for the walking of sweeping robot is controlled.
2. the ambulation control method of a sweeping robot is characterized in that, the artificial sweeping robot as claimed in claim 1 of described sweeping machine; Described method comprises:
One plane mirror is installed on the metope in cleaning chamber, and setting height(from bottom) guarantees that laser incides on the minute surface; Wherein, described plane mirror central authorities are provided with a vertical not reflective surface; The normal direction at reflective surface place is not the X-axis positive dirction, and the horizontal direction parallel with plane mirror is Y direction, and the vertical not central point of reflective surface is the initial point on X, Y plane;
Receive the variation that a generating laser that receives incides the reflector laser of plane mirror according to opto-electronic conversion, demarcate the direction of travel of sweeping robot and the position of initial point; Described direction of travel comprises: directions X and Y direction;
Calculate the travel distance of sweeping robot by the control module of sweeping robot, sweeping robot is positioned at indoor terrace in X, Y direction;
Sweeping robot carries out the orthogonal walking cleaning in X, Y plane, according to the location in the walking process, the zone that cleaning covers finished in record, and discerns the not zone of cleaning, and comprehensive cleaning of finishing indoor terrace covers.
3. method as claimed in claim 2 is characterized in that, the direction of travel of described demarcation sweeping robot comprises:
A1, sweeping robot is by beginning walking in the inlet chamber of optional position;
A2 when the opto-electronic conversion reception head that is used for diffuse reflection detected receives reflector laser, judges that the generating laser emitted laser incides on the plane mirror, then controls sweeping robot and halts;
A3, sweeping robot rotates fuselage in the original place with low-angle;
A4 when the opto-electronic conversion that is used to demarcate direction of travel receives head and receives reflector laser by the slit on the fuselage, judges that laser vertical incides plane mirror, and the direction of determining current walking is the Y direction, and the direction vertical with the Y direction is directions X.
4. method as claimed in claim 3 is characterized in that,
The angle of incident laser on the plane mirror face and incidence point normal is an entering angle, and the zone that the normal of minute surface both sides of edges and minute surface surround is that angle is judged the district; Do not judge the district if the generating laser exit pupil position enters angle as yet, then this entering angle is for negative; Judge the district if the generating laser exit pupil position enters angle, then claim this entering angle for just;
If entering angle is for just, then described steps A 3 is:
Sweeping robot directly rotates fuselage in the original place with low-angle, and the opto-electronic conversion reception head in slit receives direct reflection laser and is triggered;
If entering angle is for negative, then described steps A 3 is:
Sweeping robot rotates fuselage in the original place with low-angle, when the opto-electronic conversion that is used for diffuse reflection detected laser receives lossing signal, and control sweeping robot reverse rotation one angle;
The opto-electronic conversion that runs to diffuse reflection detected laser once more receives head and receives reflector laser, and current entering angle is for just;
Sweeping robot rotates fuselage in the original place with low-angle, and the opto-electronic conversion reception head in slit receives direct reflection laser and is triggered.
5. method as claimed in claim 3 is characterized in that, the position of described demarcation initial point comprises:
B1, the direction of determining current walking is after the Y direction, sweeping robot advances once more in the direction;
B2 is when the reflector laser of three opto-electronic conversion receptions of fuselage one side head reception is all lost, with the position zero clearing of sweeping robot on Y-axis;
B3, sweeping robot make 90 degree to the plane mirror direction and turn to, and advance afterwards until running to the metope termination, determine the initial point of this point for X, Y plane.
6. method as claimed in claim 5 is characterized in that, describedly at indoor terrace sweeping robot is positioned, and comprising:
C1, sweeping robot be along advancing with the direction of directions X or Y direction or retreat, and according to the rotation step number of the stepper motor or the servomotor of sweeping robot drive wheels, calculates the travel distance on X-axis and Y direction;
C2 according to the travel distance on X-axis and the Y direction, determines the coordinate of sweeping robot on X, Y plane, and sweeping robot is positioned.
7. method as claimed in claim 2 is characterized in that, described sweeping robot carries out the orthogonal walking cleaning in X, Y plane, comprising:
D1, after beginning just marching forward preset distance from initial point along X-axis, left/right side does 90 degree and turns to; Described preset distance is the width of cleaning face;
D2 carries out the demarcation of direction of travel and the position zero clearing of Y-axis;
D3 with the upper starting point that is changed to of current X-axis, advances along the Y direction and to clean, and stops until running into barrier;
D4, the distance of advancing according to this time of being write down is retracted into starting point on the X-axis along original route;
D5, to the right/left side does 90 degree and turns to, and returns step D1;
D6, the execution in step that circulates successively D1～D5 finishes the cleaning in territory, X-axis one lateral areas until the forward border that arrives X-axis, is retracted into the forward frontier point on the X-axis;
D7, left/dextrorotation turn 90 degrees, advances along the X-axis negative sense, until arriving initial point;
D8, the execution in step that circulates successively D1～D5 finishes the cleaning in X-axis opposite side zone until the forward border that arrives X-axis; Wherein, angle turns to opposite with the cleaning in territory, a last lateral areas.
8. method as claimed in claim 2 is characterized in that, and is described according to the location in the walking process, and the zone that cleaning covers finished in record, comprising:
Sweeping robot is finished when being retracted into X-axis along Y direction cleaning at every turn, the purging zone that record is finished when time cleaning works;
Wherein, described purging zone is wide with sweeping robot cleaning face width degree, perpendicular to the strip zone of X-axis; The record of described purging zone is included in the position of X-axis positive dirction and the position of advancing and stopping on Y-axis positive dirction or negative sense.
9. method as claimed in claim 2 is characterized in that,
Both sides on the described sweeping robot fuselage are provided with infrared or ultrasonic probe; The zone that then described identification is not cleaned, comprehensive cleaning of finishing indoor terrace covers, and comprising:
E1 has cleaned along the Y direction and to be retracted in the X-axis process, has can enter space and this area of space and do not have the cleaning record time when infrared or ultrasonic probe detect a last purging zone direction, and sweeping robot halts, and this halt is as covering halt;
E2, the purging zone direction that makes progress in original place, current covering halt place is done 90 degree and is turned to;
E3, the walking of advancing stops until the zone boundary that arrives barrier or a certain cleaning record;
E4, the distance of advancing according to this time of being write down returns to the covering halt along original route;
E5 after turning 90 degrees, retreats the distance of cleaning face width degree in the other direction;
E1～E5 step is carried out in circulation, can not enter the space until probe detection to a last purging zone direction, finishes not purging zone covering.
10. method as claimed in claim 9 is characterized in that, the zone that described identification is not cleaned, and comprehensive cleaning of finishing indoor terrace covers, and also comprises:
F1 finishes the cleaning of orthogonal walking to indoor terrace, when the Y direction walk, calls the record of with current purging zone corresponding next purging zone of last orthogonal walking in cleaning in cleaning process next time;
F2, cleaned along the Y direction and to be retracted in the X-axis process, had and can enter the space when infrared or ultrasonic probe detect described next purging zone direction, and when not having corresponding cleaning record in the cleaning of last orthogonal walking, sweeping robot halts, and this halt is as covering halt;
F3 does 90 degree in original place, current covering halt place to next purging zone direction and turns to;
F4 moves ahead and comes into, the purging zone border of a certain record in arriving barrier or last orthogonal walking and stopping;
F5, the distance of advancing according to this time of being write down returns to the covering halt along original route;
F6 after turning 90 degrees, retreats the distance of cleaning face width degree in the other direction;
F1～F5 step is carried out in circulation, can not enter the space until probe detection to next purging zone direction, finishes not purging zone covering.
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|---|---|---|---|
| CN2010102510886A CN101916110B (en) | 2010-08-11 | 2010-08-11 | Sweeping robot and walking control method for same |
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| CN2010102510886A CN101916110B (en) | 2010-08-11 | 2010-08-11 | Sweeping robot and walking control method for same |
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| Publication Number | Publication Date |
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| CN101916110A true CN101916110A (en) | 2010-12-15 |
| CN101916110B CN101916110B (en) | 2012-05-23 |
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| CN113243821B (en) * | 2021-04-26 | 2023-05-05 | 深圳市酷客智能科技有限公司 | Indoor environment interactive purification method and device based on robot and intelligent cleaning robot |
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