CN102799180A - Walking control method and device of cleaning machine - Google Patents

Walking control method and device of cleaning machine Download PDF

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Publication number
CN102799180A
CN102799180A CN2012102612395A CN201210261239A CN102799180A CN 102799180 A CN102799180 A CN 102799180A CN 2012102612395 A CN2012102612395 A CN 2012102612395A CN 201210261239 A CN201210261239 A CN 201210261239A CN 102799180 A CN102799180 A CN 102799180A
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China
Prior art keywords
cleaning machine
control
walking
movable motor
pool wall
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CN2012102612395A
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Chinese (zh)
Inventor
万长明
傅丹
徐肇松
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HANGZHOU GAOYUE TECHNOLOGY Co Ltd
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HANGZHOU GAOYUE TECHNOLOGY Co Ltd
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Abstract

The invention provides a method and device of walking path planning and walking process control of a cleaning machine on the bottom of a pool, which are suitable for the field of cleaning a swimming pool. The method comprises the following steps of: controlling the cleaning machine to find the pool wall; controlling the cleaning machine to find a cleaning starting point; controlling the cleaning machine to clean a region at the left side of the bottom of the pool; controlling the cleaning machine to re-locate the cleaning starting point; controlling the cleaning machine to clean a region at the right side of the bottom of the pool; controlling the cleaning machine to clean the bottom of the pool near the circumference of the pool wall; and controlling the cleaning machine to end the cleaning. The method provided by the invention has the advantages of high cleaning efficiency, less leaked and repeatedly-cleaned region, regular walking path, no requirement on the shape of the swimming pool, and capability of automatically avoiding barriers in the pool, is used for regulating a time sheet parameter, can be adapted to the swimming pool with length and width of reaching 100m which can not be achieved by other methods, and has no any requirements on quantity, shapes and sizes of barriers in the swimming pool.

Description

A kind of cleaning machine ambulation control method and device
Technical field
The invention belongs to the swimming pool field of washing, relate in particular to the method and apparatus of a kind of cleaning machine walk path planning and walking process control.
Background technology
Automatic cleaning machine for swimming pool device people (hereinafter to be referred as cleaning machine) in cleaning the dirty process of swimming pool bottom, the quality of walking path directly the decision cleaning efficiency height, omit clean the zone what, the repeated washing zone how much, the length of scavenging period.The quality of walking path is to weigh the key index of cleaning machine serviceability.
Existing a kind of scheme discloses a kind of paths planning method to difform swimming pool.Rectangle swimming pool and non-rectangle swimming pool are adopted whole process path method and the half way path method of turning back of turning back respectively.This method has only proposed cleaning machine and after running into pool wall, how to have turned to and turn back, and on the cleaning machine body, has not both had the athletic posture detecting sensor, does not also propose any walking process control method.Both do not had concrete measures to control described cleaning machine in this scheme and turn 90 degrees counterclockwise or clockwise, do not related to the barrier of how avoiding in the swimming pool yet.So this scheme can not substantially be controlled walking path preferably, can not solve the omission cleaning of cleaning machine and the problem of repeated washing.
Second scheme proposed the paths planning method of a kind of underwater cleaning under circumstances not known.But how this method emphasis solves avoiding obstacles, does not relate to the control of cleaning machine walking path, how to reduce the problem that zone and repeated washing zone etc. are improved cleaning efficiencies, reduced scavenging period of cleaning of omitting.
The 3rd scheme proposed a kind of cleaning method that can carry out automatic running type to the swimming pool bottom surface, but the prerequisite of this method hypothesis is that swimming pool is rectangular, but actual swimming pool shape is varied.So this scheme is very poor to the adaptability of swimming pool.
Summary of the invention
The purpose of the embodiment of the invention is to provide the method for a kind of cleaning machine walk path planning and walking process control, is intended to solve the existing irrational problem of cleaning robot walk paths planning method.
The embodiment of the invention is achieved in that the method for a kind of cleaning machine walk path planning and walking process control, it is characterized in that said method comprises the steps:
The control cleaning machine is sought pool wall;
The control cleaning machine is sought and is cleaned starting point;
The control cleaning machine cleans territory, base area, pond, left side;
Starting point is cleaned in the reorientation of control cleaning machine;
The control cleaning machine cleans territory, base area, pond, right side;
The control cleaning machine cleans at the bottom of near all around pond of pool wall;
The control cleaning machine finishes to clean.
Another purpose of the embodiment of the invention is to provide the device of a kind of cleaning machine walk path planning and walking process control, and said device comprises:
Pool wall is sought control module, is used to control cleaning machine and seeks pool wall;
Clean starting point and seek control module, be used to control cleaning machine and seek the cleaning starting point;
Cleaning control unit, territory, base area, pond, left side is used to control cleaning machine and cleans territory, base area, pond, left side;
Clean starting point reorientation control module, be used to control the cleaning starting point of cleaning machine reorientation cleaning machine;
Cleaning control unit, territory, base area, pond, right side is used to control cleaning machine and cleans territory, base area, pond, right side;
Near cleaning control unit at the bottom of the pond around the pool wall, be used to control cleaning machine clean around the pool wall near at the bottom of the pond;
Clean the finishing control unit, be used to control cleaning machine and finish to clean.
Cleaning machine walk path planning and walking process control method that the present invention adopts can guarantee that cleaning efficiency is high, and the zone of omission and repeated washing is few, and walking path is regular, to the shape no requirement (NR) of swimming pool, can hide barrier in the pond automatically; Adjustment timeslice parameter can adapt to the swimming pool that length and width reach 100m, and this is that other method is inaccessible; Barrier quantity, shape, size in the swimming pool have no requirement.
Description of drawings
Fig. 1 is the realization flow figure of the pool cleaning robot walk paths planning method that provides of first embodiment of the invention;
Fig. 2 is the cleaning machine architectural schematic that second embodiment of the invention provides;
Fig. 3 is ten kinds of walking modes of the predefined cleaning machine that provides of third embodiment of the invention;
Fig. 4 is the realization flow figure that the pool cleaning robot that provides of fourth embodiment of the invention is sought pool wall;
Fig. 5 is that the pool cleaning robot that fifth embodiment of the invention provides is sought the realization flow figure that cleans starting point;
Fig. 6 is that the pool cleaning robot that sixth embodiment of the invention provides is sought the work synoptic diagram that cleans starting point;
Fig. 7 is the realization flow figure that the pool cleaning robot that provides of seventh embodiment of the invention cleans territory, base area, pond, left side;
Fig. 8 is that the place ahead of the judgement cleaning machine direction of motion that provides of eighth embodiment of the invention is the realization flow figure of pool wall or other barrier;
Fig. 9 is the realization flow figure that avoiding of providing of nineth embodiment of the invention is not the barrier of pool wall;
Figure 10 is the synoptic diagram of keeping away the barrier ambulation control method that tenth embodiment of the invention provides;
Figure 11 is after running into pool wall, squint the left realization flow figure of 7W/8 of control cleaning machine that eleventh embodiment of the invention provides;
Figure 12 is the ambulation control method synoptic diagram of the 7W/8 that squints left that provides of twelveth embodiment of the invention;
Figure 13 is the pool cleaning robot walk path planning that provides of the embodiment of the invention and the structural drawing of control system.
Concrete executive mode
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
The embodiment of the invention is through ten kinds of cleaning machine walking rules of definition and ambulation control method is provided; Make cleaning robot walk path planning reasonable; Control walking path preferably, improve cleaning efficiency, minimizing omission zone and repeat region, reduction scavenging period.
Fig. 1 shows the realization flow of the pool cleaning robot walk paths planning method that first embodiment of the invention provides, and details are as follows:
In step S101, the control cleaning machine is sought pool wall.
In step S102, the control cleaning machine is sought and is cleaned starting point.
In step S103, the control cleaning machine cleans territory, base area, pond, left side.
In step S104, starting point is cleaned in the reorientation of control cleaning machine.
In step S105, the control cleaning machine cleans territory, base area, pond, right side.
In step S106, the control cleaning machine cleans at the bottom of near all around pond of pool wall.
In step S107, the control cleaning machine finishes to clean.
Fig. 2 shows the cleaning machine architectural schematic that second embodiment of the invention provides, and details are as follows:
The 1st, the place ahead ultrasonic ranging sensor; The 2nd, left side ultrasonic ranging sensor; The 3rd, the walking revolver; 4
It is the right wheel of walking; The 5th, right side ultrasonic ranging sensor; The 6th, deflecting roller.
Cleaning machine adopts wheeled construction, and the width of the sewage suction device of cleaning machine configuration is W.Wherein the central axis of two drive wheels is on same extended line, and the radius of left and right sides two-wheeled all is r, about distance between the two wheel rotary middle points be M.Two coaxial wheels are driven by the have brush or the brushless direct-current adjustable speed motor of a band rotating speed coding respectively, and the gear reduction ratio that disposes with motor is k, and this direct current adjustable speed motor abbreviates movable motor hereinafter as.Be separately installed with 2 pairs of ultrasonic ranging sensors on cleaning machine front side, left side and right side.
It is just to change or reverse that the present invention all controls movable motor through control H type brush motor driver module or UVW type brushless electric machine driver module.
The ambulation control method of the movable motor of two wheels is described in detail as follows about driving:
The control time that movable motor is set is spaced apart a timeslice T, and by current control law, the number of control time sheet T is N.In each timeslice T; About the preset anglecs of rotation of two movable motors be respectively
Figure 2012102612395100002DEST_PATH_IMAGE002
and
Figure 2012102612395100002DEST_PATH_IMAGE004
; About the preset travel distances of two wheels be respectively
Figure 2012102612395100002DEST_PATH_IMAGE006
and
Figure 2012102612395100002DEST_PATH_IMAGE008
; Being respectively
Figure 2012102612395100002DEST_PATH_IMAGE010
and
Figure 2012102612395100002DEST_PATH_IMAGE012
according to the adjusted control anglec of rotation of current walking situation, is and
Figure 2012102612395100002DEST_PATH_IMAGE016
because wheel-slip or other disturbance factor cause through the detected actual anglec of rotation of rotary encoder.Relation between
Figure 560024DEST_PATH_IMAGE002
,
Figure 477165DEST_PATH_IMAGE004
and
Figure 948247DEST_PATH_IMAGE006
,
Figure 343457DEST_PATH_IMAGE008
is
Figure 2012102612395100002DEST_PATH_IMAGE018
,
Figure 2012102612395100002DEST_PATH_IMAGE020
.In first timeslice T; ,
Figure 2012102612395100002DEST_PATH_IMAGE024
.Two movable motors begin to current time n the T timeslice of having walked from starting certain walking rule about supposing, the actual anglec of rotation of accumulation and the difference of controlling between the anglec of rotation are not
Figure 2012102612395100002DEST_PATH_IMAGE026
and
Figure 2012102612395100002DEST_PATH_IMAGE028
.The initial value of putting
Figure 2012102612395100002DEST_PATH_IMAGE030
and
Figure 2012102612395100002DEST_PATH_IMAGE032
is 0; The initial value of n is 0, upgrades the value of
Figure 220146DEST_PATH_IMAGE030
,
Figure 42608DEST_PATH_IMAGE032
, n,
Figure 309641DEST_PATH_IMAGE010
and
Figure 196957DEST_PATH_IMAGE012
as follows:
Figure 2012102612395100002DEST_PATH_IMAGE034
,
Figure 2012102612395100002DEST_PATH_IMAGE036
,n=n+1。
if
Figure 2012102612395100002DEST_PATH_IMAGE038
and
Figure 2012102612395100002DEST_PATH_IMAGE040
; Then:
Figure 2012102612395100002DEST_PATH_IMAGE042
; , n=n-1;
if and ; Then: ;
Figure DEST_PATH_IMAGE052
, n=n+1;
Figure DEST_PATH_IMAGE054
；
Figure DEST_PATH_IMAGE056
。
The next time slice T washing machine according to the updated and
Figure 607002DEST_PATH_IMAGE012
Control walk around the motor rotation angle.
Fig. 3 shows ten kinds of walking modes that third embodiment of the invention provides, and details are as follows:
First kind of walking rule is to walk out two parallel lines forward, shown in Fig. 3-1.This regular control method is: the control movable motor just changes; Put
Figure 361332DEST_PATH_IMAGE002
and be identical constant value with , N is according to the parallel lines walking lengths needed setting of advancing.
Second kind of walking rule is to fall back to walk out two parallel lines, shown in Fig. 3-2.This regular control method is: the counter-rotating of control movable motor; Put
Figure 559412DEST_PATH_IMAGE002
and be identical constant value with
Figure 989256DEST_PATH_IMAGE004
, N is according to the parallel lines walking lengths needed setting that falls back.
The third walking rule is to turn left to advance to walk out two concentric arc lines; Steering angle is
Figure DEST_PATH_IMAGE058
; The radius of turn of left and right wheels is respectively
Figure DEST_PATH_IMAGE060
and
Figure DEST_PATH_IMAGE062
, shown in Fig. 3-3.This regular control method is: the control movable motor just changes; Put
Figure 417832DEST_PATH_IMAGE002
and
Figure 630639DEST_PATH_IMAGE004
and be constant and
Figure DEST_PATH_IMAGE064
,
Figure DEST_PATH_IMAGE066
.
The 4th kind of walking rule is to turn right to advance to walk out two concentric arc lines; Steering angle is
Figure 274110DEST_PATH_IMAGE058
; The radius of turn of left and right wheels is respectively
Figure 297692DEST_PATH_IMAGE060
and
Figure 26614DEST_PATH_IMAGE062
, shown in Fig. 3-4.This regular control method is: the control movable motor just changes; Put
Figure 105428DEST_PATH_IMAGE002
and
Figure 541089DEST_PATH_IMAGE004
and be constant and ,
Figure DEST_PATH_IMAGE070
.
The 5th kind of walking rule is to turn left to retreat to walk out two concentric arc lines; Steering angle is
Figure DEST_PATH_IMAGE072
; The radius of turn of left and right wheels is respectively
Figure 499686DEST_PATH_IMAGE060
and
Figure 450325DEST_PATH_IMAGE062
, shown in Fig. 3-5.This regular control method is: the counter-rotating of control movable motor; Put
Figure 270513DEST_PATH_IMAGE002
and
Figure 622997DEST_PATH_IMAGE004
and be constant and
Figure DEST_PATH_IMAGE074
,
Figure DEST_PATH_IMAGE076
.
The 6th kind of walking rule is to turn right to retreat to walk out two concentric arc lines; Steering angle is ; The radius of turn of left and right wheels is respectively
Figure 683106DEST_PATH_IMAGE060
and
Figure 103723DEST_PATH_IMAGE062
, shown in Fig. 3-6.This regular control method is: the counter-rotating of control movable motor; Put
Figure 513976DEST_PATH_IMAGE002
and
Figure 627426DEST_PATH_IMAGE004
and be constant and ,
Figure 963915DEST_PATH_IMAGE066
.
The 7th kind of walking rule is certain the some rotation on line between the left and right wheels central point; Steering angle is
Figure 25412DEST_PATH_IMAGE072
; The radius of turn of left and right wheels is respectively
Figure 309763DEST_PATH_IMAGE060
and
Figure 659972DEST_PATH_IMAGE062
; Revolver rotates by working direction; Right wheel rotates by direction of retreat, shown in Fig. 3-7.This regular control method is: control revolver movable motor just changes; The counter-rotating of right wheel movable motor; Put the ratio satisfied
Figure DEST_PATH_IMAGE078
of
Figure 687971DEST_PATH_IMAGE002
and
Figure 869554DEST_PATH_IMAGE004
,
Figure DEST_PATH_IMAGE080
.
The 8th kind of walking rule is certain the some rotation on line between the left and right wheels central point; Steering angle is ; The radius of turn of left and right wheels is respectively
Figure 647465DEST_PATH_IMAGE060
and
Figure 151259DEST_PATH_IMAGE062
; Revolver rotates by direction of retreat; Right wheel rotates by working direction, shown in Fig. 3-8.This regular control method is: the counter-rotating of control revolver movable motor; Right wheel movable motor just changes; Put the ratio satisfied of
Figure 452927DEST_PATH_IMAGE002
and
Figure 813501DEST_PATH_IMAGE004
,
Figure 757373DEST_PATH_IMAGE080
.
To be right wheel central point be the steady state value C walking of advancing apart from pool wall for the 9th kind of walking rule.This regular control method of walking is: the movable motor of control left and right wheels just changes.In each timeslice T, detect through the right side ultrasonic sensor and pool wall between apart from x, shown in Fig. 3-9.In next timeslice T; if
Figure DEST_PATH_IMAGE082
; Then carry out the 4th kind of walking rule; Put
Figure DEST_PATH_IMAGE084
,
Figure DEST_PATH_IMAGE086
; if
Figure DEST_PATH_IMAGE088
; Carry out the third walking rule; Put
Figure DEST_PATH_IMAGE090
,
Figure DEST_PATH_IMAGE092
; if
Figure DEST_PATH_IMAGE094
; Carry out first kind of walking rule, put
Figure DEST_PATH_IMAGE096
.Wherein is the parameter that presets.N is according to the needs setting of this rule travel distance.
The tenth kind of walking rule is that the revolver central point is the walking of advancing of steady state value C apart from pool wall.With the 9th kind of difference that control law is unique be in each T 2 ultrasonic sensors through cleaning machine left side detect apart from pool wall apart from x, shown in Fig. 3-10.N is according to the needs setting of this rule travel distance.
The pool cleaning robot that Fig. 4 shows fourth embodiment of the invention to be provided is sought the realization flow of pool wall, and details are as follows:
In step S401, cleaning machine steadily is placed on the optional position near pool wall, swimming pool bottom, and the minimum distance between the pool wall can not greater than and other barriers between minimum distance.
In step S402; Cleaning machine is from current attitude; By the third walking rule walking; Put
Figure DEST_PATH_IMAGE100
;
Figure DEST_PATH_IMAGE102
;
Figure DEST_PATH_IMAGE104
,
Figure DEST_PATH_IMAGE106
.In the walking process; Distance between continuous detection of front side ultrasonic sensor and the barrier is recorded in i the T timeslice and the distance
Figure DEST_PATH_IMAGE108
between the barrier.
In step S403, calculate minimum value and this value in all distance values in the numbering
Figure DEST_PATH_IMAGE114
of all
Figure 333454DEST_PATH_IMAGE108
data centralizations.Once more from current attitude; By the third walking rule walking; Put ;
Figure 818924DEST_PATH_IMAGE102
, .
In step S404, from current attitude, by the walking of first kind of walking rule.In the walking process; Constantly detect the distance L between cleaning machine center and the pool wall through the front side ultrasonic sensor, up to .
In step S405; From current attitude; By the third walking rule walking; Put
Figure DEST_PATH_IMAGE120
;
Figure 538936DEST_PATH_IMAGE102
;
Figure 736568DEST_PATH_IMAGE104
,
Figure DEST_PATH_IMAGE122
.
Wherein
Figure DEST_PATH_IMAGE124
can be set to a little numerical value, is
Figure DEST_PATH_IMAGE126
such as
Figure 642207DEST_PATH_IMAGE124
.
The pool cleaning robot that Fig. 5 shows fifth embodiment of the invention to be provided is sought the realization flow that cleans starting point, and details are as follows:
In step S501; From current attitude; Walk by the 9th kind of walking rule counterclockwise along pool wall; Record begins following 6 data in each timeslice T to the current time sheet process from this step: the distance left side ultrasonic sensor and the barrier
Figure 738339DEST_PATH_IMAGE110
; The ultimate range
Figure DEST_PATH_IMAGE128
of all
Figure 141288DEST_PATH_IMAGE110
; The minor increment
Figure DEST_PATH_IMAGE130
of all
Figure 6476DEST_PATH_IMAGE110
;
Figure 83016DEST_PATH_IMAGE128
numbering
Figure DEST_PATH_IMAGE132
in data set
Figure 666444DEST_PATH_IMAGE110
; Walking path total length
Figure DEST_PATH_IMAGE134
, left with turn right to total angle
Figure DEST_PATH_IMAGE136
.
In step S502; Judge whether
Figure DEST_PATH_IMAGE138
and
Figure DEST_PATH_IMAGE140
sets up; If; Execution in step S503 then, otherwise execution in step S501.
In step S503; From numbering is the data of
Figure 40794DEST_PATH_IMAGE132
, searches data set
Figure 26067DEST_PATH_IMAGE110
and
Figure 335826DEST_PATH_IMAGE134
respectively forward and backward.
In step S504; Judge whether to exist certain numbering j; Make
Figure DEST_PATH_IMAGE142
and
Figure DEST_PATH_IMAGE144
; If exist; Execution in step S505 then, otherwise execution in step S501.
In step S505; From current attitude; By the 9th kind of walking rule walking,
Figure 94966DEST_PATH_IMAGE110
and after beginning from this step by the method record of similar step S501 in each timeslice T.
In step S506; Judge whether
Figure DEST_PATH_IMAGE146
and
Figure DEST_PATH_IMAGE148
sets up; If set up; Execution in step S507 then, otherwise execution in step S505.
In step S507, repeat S501 and after the action of S504, stop.
Wherein turn left to the angle symbol for just, turn right to the angle symbol for negative.Walking path total length
Figure 112786DEST_PATH_IMAGE134
be in each timeslice T walking length adding up with; Walking length in a timeslice T is revolver and right wheel travel distance sum half the in timeslice T;
Figure DEST_PATH_IMAGE150
and
Figure DEST_PATH_IMAGE152
is the value that is provided with in advance; Representative value is
Figure DEST_PATH_IMAGE154
,
Figure DEST_PATH_IMAGE156
.
The pool cleaning robot that Fig. 6 shows sixth embodiment of the invention to be provided is sought the work synoptic diagram that cleans starting point.
The pool cleaning robot that Fig. 7 shows seventh embodiment of the invention to be provided cleans the realization flow in territory, base area, pond, left side, and details are as follows:
In step S701, cleaning machine is by the walking of first kind of walking rule.
In step S702, judge whether cleaning machine runs into the barrier that is not pool wall, if, execution in step S703 then, otherwise execution in step S701.
In step S703, avoiding obstacles continues by first kind of rule walking.
In step S704, judge whether cleaning machine runs into pool wall, if, execution in step S705 then, otherwise execution in step S701.
In step S705, the cleaning machine 7W/8 that squints left.
In step S706, cleaning machine is according to second kind of rule walking.
In step S707, judge whether cleaning machine runs into the barrier that is not pool wall, if, execution in step S708 then, otherwise execution in step S706.
In step S708, avoid the obstacle continued by second kind of rule walking.
In step S709, judge whether cleaning machine runs into pool wall, if, execution in step S710 then, otherwise execution in step S706.
In step S710, walk by first kind of rule behind the 7W/8 that squints left.
In step S711, judge whether cleaning machine accomplishes the cleaning of swimming pool bottom, left side, if, then stop, otherwise execution in step S701.
The place ahead that Fig. 8 shows the judgement cleaning machine direction of motion that eighth embodiment of the invention provides is the pool wall or the realization flow of other barrier, and details are as follows:
With the working direction is that example describes, and direction of retreat can be analogized.
In step S801; In the process of advancing in each T timeslice; Write down following three values: the distance that cleaning machine left side ultrasonic sensor measures; The distance that cleaning machine front side ultrasonic sensor measures is calculated the Cumulative Distance
Figure DEST_PATH_IMAGE162
that cleaning machine has been walked through photoelectric encoder.
In step S802; Capable for r; C T timeslice judges whether to exist
Figure DEST_PATH_IMAGE164
, if exist; Execution in step S803 then, otherwise execution in step S801.
In step S803; With
Figure DEST_PATH_IMAGE166
and capable
Figure DEST_PATH_IMAGE168
of r-1 compare; Up to finding certain t value, make
Figure DEST_PATH_IMAGE170
and set up.
In step S804; Since t capable left side distance value of r-1, search the maximum range value of capable all the Distance Remaining values of r-1.
In step S805; Whether judge
Figure DEST_PATH_IMAGE174
sets up; If set up; Execution in step S806 then, otherwise execution in step S807.
In step S806, judge that the place ahead of cleaning machine motion direction of travel is other barrier.
In step S807, judge that the place ahead of cleaning machine motion direction of travel is a pool wall.
Wherein, r is a line number, and t representes that r is capable of pool wall t the timeslice T that begin to have walked.
Fig. 9 shows that nineth embodiment of the invention provides avoids not being the realization flow of the barrier of pool wall, is that example describes with the working direction, and direction of retreat can be analogized, and details are as follows:
According to the barrier judgment method; Suppose to detect the barrier that is not pool wall in the individual T timeslice of r capable
Figure DEST_PATH_IMAGE176
; Take out the accumulation travel distance
Figure DEST_PATH_IMAGE178
of corresponding T timeslice; Search whether r-1 is capable has barrier in
Figure DEST_PATH_IMAGE180
close positions; If have; Take out accumulation travel distance
Figure DEST_PATH_IMAGE182
; Then search r-2 and whether barrier is arranged in close positions; If have; Take out accumulation travel distance
Figure DEST_PATH_IMAGE186
; Above process is carried out repeatedly, and r-r0 is capable not to have barrier in
Figure DEST_PATH_IMAGE188
close position up to finding.Calculate thus and keep away barrier walking width
Figure DEST_PATH_IMAGE190
.
In step S901; By the walking of the 4th kind of walking rule; Put parameter
Figure 967348DEST_PATH_IMAGE120
;
Figure DEST_PATH_IMAGE192
;
Figure DEST_PATH_IMAGE194
,
Figure DEST_PATH_IMAGE196
.
In step S902; By the walking of first kind of walking rule, travel distance is
Figure DEST_PATH_IMAGE198
.
In step S903; By the third walking rule walking; Put parameter
Figure 384422DEST_PATH_IMAGE120
;
Figure 241520DEST_PATH_IMAGE102
;
Figure 935806DEST_PATH_IMAGE104
,
Figure 525051DEST_PATH_IMAGE122
.
In step S904, by the walking of first kind of walking rule.Constantly detect the distance
Figure 570367DEST_PATH_IMAGE110
of left side ultrasonic sensor and barrier in the walking process.
In step S905; Whether judge
Figure DEST_PATH_IMAGE200
sets up; If set up; Execution in step S906 then, otherwise execution in step S904.
In step S906; By the third walking rule walking; Put parameter
Figure 965576DEST_PATH_IMAGE120
;
Figure 217433DEST_PATH_IMAGE102
;
Figure 305475DEST_PATH_IMAGE104
,
Figure 572508DEST_PATH_IMAGE122
.
In step S907; By the walking of first kind of walking rule, travel distance is
Figure 709092DEST_PATH_IMAGE198
.
In step S908; By the walking of the 4th kind of walking rule; Put parameter ; ;
Figure 312614DEST_PATH_IMAGE194
,
Figure 49626DEST_PATH_IMAGE196
.
Figure 10 shows that tenth embodiment of the invention provides keeps away barrier ambulation control method synoptic diagram.
After running into pool wall, squint the left realization flow of 7W/8 of the control cleaning machine that Figure 11 shows eleventh embodiment of the invention to be provided, details are as follows:
With cleaning machine walking forward earlier, behind the 7W/8 that squints left, retreat walking and be the example explanation.The cleaning machine walking of drawing back, behind the 7W/8 that squints left, the situation of walking is similar forward.
In step S1101; By the walking of first kind of walking rule; Detect the distance of front side ultrasonic sensor and pool wall, up to .
In step S1102; By the third walking rule walking; Put parameter
Figure 940539DEST_PATH_IMAGE120
;
Figure 916585DEST_PATH_IMAGE102
; ,
Figure 789174DEST_PATH_IMAGE122
.
In step S1103, by the walking of first kind of walking rule, travel distance is 7W/8.
In step S1104; By the walking of the 6th kind of walking rule; Put parameter
Figure 124341DEST_PATH_IMAGE120
; ;
Figure 869760DEST_PATH_IMAGE194
, .
In step S1105, begin to retreat walking by second kind of walking rule.
Figure 12 shows the ambulation control method synoptic diagram of the 7W/8 that squints that twelveth embodiment of the invention provides left.
Judge that cleaning machine has cleaned the performing step of left field, details are as follows:
To current line traveling r; If the t value all to this row; Judgment condition
Figure DEST_PATH_IMAGE204
is all set up; Then be expert at and cover after the current line, the judgement cleaning machine has been accomplished the cleaning in territory, base area, pond, left side.
Adopt the performing step of ultrasonic sensor measuring distance in a timeslice T: in certain T timeslice; If being in, keeps away in the barrier walking process by cleaning machine; Then putting distance value
Figure 60756DEST_PATH_IMAGE110
is-1, otherwise adopt ultrasonic sensor repeatedly measure and barrier between distance after again the method for filtering obtain distance value
Figure 276973DEST_PATH_IMAGE110
.
Repeatedly filtering obtains the method for distance value
Figure 159479DEST_PATH_IMAGE110
behind the measuring distance, and detailed process is following:
Suppose in i T timeslice, obtained H distance value
Figure DEST_PATH_IMAGE206
altogether.Calculate the minimum value
Figure DEST_PATH_IMAGE210
and the maximal value
Figure DEST_PATH_IMAGE212
of all H
Figure DEST_PATH_IMAGE208
values; Definition step-length
Figure DEST_PATH_IMAGE214
; if ; Then
Figure DEST_PATH_IMAGE218
; Add up all H
Figure 72815DEST_PATH_IMAGE208
values and drop on the number of sub-range
Figure DEST_PATH_IMAGE220
,
Figure DEST_PATH_IMAGE222
.The sub-range that searching value number is maximum is
Figure 202314DEST_PATH_IMAGE110
with all distance value summation backs of dropping on this sub-range divided by resulting numerical value after the number that drops on this sub-range value.
Details are as follows for the process of pool cleaning robot reorientation cleaning starting point:
At first,, cleaning machine steadily is placed on the optional position of swimming pool bottom near pool wall from cleaning the current point after finish in territory, base area, pond, left side, and the minimum distance between the pool wall can not greater than and other barriers between minimum distance.
Cleaning machine is from current attitude; By the third walking rule walking; Put
Figure 640248DEST_PATH_IMAGE100
;
Figure 60865DEST_PATH_IMAGE102
;
Figure 471118DEST_PATH_IMAGE104
,
Figure 318988DEST_PATH_IMAGE106
.In the walking process; Distance between continuous detection of front side ultrasonic sensor and the barrier is recorded in i the T timeslice and the distance
Figure 244219DEST_PATH_IMAGE108
between the barrier.
All distances calculated values the minimum value
Figure 484019DEST_PATH_IMAGE112
, and the value of all
Figure 768369DEST_PATH_IMAGE108
dataset number
Figure 118579DEST_PATH_IMAGE114
.Once more from current attitude; By the third walking rule walking; Put ;
Figure 62581DEST_PATH_IMAGE102
,
Figure 517834DEST_PATH_IMAGE104
.
From current attitude, by the walking of first kind of walking rule.In the walking process; Constantly detect the distance L between cleaning machine center and the pool wall through the front side ultrasonic sensor, up to .
From current attitude; By the third walking rule walking; Put
Figure 170718DEST_PATH_IMAGE120
; ;
Figure 770643DEST_PATH_IMAGE104
,
Figure 157762DEST_PATH_IMAGE122
.Wherein
Figure 261985DEST_PATH_IMAGE124
can be set to a little numerical value, is such as
Figure 109505DEST_PATH_IMAGE124
.
From current attitude; By the walking of the 9th kind of walking rule; Record after the walking beginning of this step the left side ultrasonic sensor in each timeslice T and the distance between the barrier
Figure 515395DEST_PATH_IMAGE110
and left and right wheels central point go to the total length
Figure 688888DEST_PATH_IMAGE134
of current T timeslice walking path from this step begin column; if
Figure DEST_PATH_IMAGE224
and
Figure DEST_PATH_IMAGE226
; Then the current location point is exactly the starting point at the bottom of cleaning machine cleans the pond, right side; Otherwise repeat this step; Wherein D is that cleaning machine cleans total line number of being walked in territory, base area, pond, left side; and
Figure 792159DEST_PATH_IMAGE152
is the value that is provided with in advance; Representative value is
Figure 888291DEST_PATH_IMAGE154
,
Figure 334316DEST_PATH_IMAGE156
.
Details are as follows for the process in pool cleaning robot cleaning territory, base area, pond, right side:
Step 1, the control cleaning machine is by the walking of first kind of walking rule.
Step 2 judges whether cleaning machine runs into the barrier that is not pool wall, if, then carry out next step, otherwise execution in step 1.
Step 3, avoiding obstacles continue by first kind of rule walking.
Step 4 judges whether cleaning machine runs into pool wall, if, then carry out next step, otherwise execution in step 1.
Step 5, the cleaning machine 7W/8 that squints to the right.
Step 6, cleaning machine is according to second kind of rule walking.
Step 7 judges whether cleaning machine runs into the barrier that is not pool wall, if, then carry out next step, otherwise execution in step 6.
Step 8 is avoided the obstacle continued by second kind of rule walking.
Step 9 judges whether cleaning machine runs into pool wall, if, then carry out next step, otherwise execution in step 6.
Step 10 is walked by first kind of rule behind the 7W/8 that squints to the right.
Step 11 judges whether cleaning machine accomplishes the cleaning of swimming pool bottom, right side, if, then stop, otherwise execution in step 1.
Details are as follows for process at the bottom of near around the pool cleaning robot cleaning pool wall the pond:
Method at the bottom of near around the cleaning pool wall the pond is from cleaning the current point after finish in territory, base area, pond, right side.By seeking the step walking of cleaning starting point:
In step S501; From current attitude; Walk by the 9th kind of walking rule counterclockwise along pool wall; Record begins following 6 data in each timeslice T to the current time sheet process from this step: the distance left side ultrasonic sensor and the barrier
Figure 402766DEST_PATH_IMAGE110
; The ultimate range
Figure 125051DEST_PATH_IMAGE128
of all
Figure 541623DEST_PATH_IMAGE110
; The minor increment
Figure 48456DEST_PATH_IMAGE130
of all ;
Figure 358214DEST_PATH_IMAGE128
numbering
Figure 420028DEST_PATH_IMAGE132
in data set
Figure 428939DEST_PATH_IMAGE110
; Walking path total length
Figure 259808DEST_PATH_IMAGE134
, left with turn right to total angle
Figure 740468DEST_PATH_IMAGE136
.
In step S502; Judge whether
Figure 219860DEST_PATH_IMAGE138
and
Figure 76958DEST_PATH_IMAGE140
sets up; If; Execution in step S503 then, otherwise execution in step S501.
In step S503; From numbering is the data of , searches data set
Figure 360489DEST_PATH_IMAGE110
and
Figure 405805DEST_PATH_IMAGE134
respectively forward and backward.
In step S504; Judge whether to exist certain numbering j; Make
Figure 486500DEST_PATH_IMAGE142
and
Figure 35293DEST_PATH_IMAGE144
; If exist; Execution in step S505 then, otherwise execution in step S501.
In step S505; From current attitude; By the 9th kind of walking rule walking,
Figure 123335DEST_PATH_IMAGE110
and after beginning from this step by the method record of similar step S501 in each timeslice T.
In step S506; Judge whether
Figure 261372DEST_PATH_IMAGE146
and
Figure 930251DEST_PATH_IMAGE148
sets up; If set up; Execution in step S507 then, otherwise execution in step S505.
In step S507, repeat S501 and after the action of S504, stop.
Wherein turn left to the angle symbol for just, turn right to the angle symbol for negative.Walking path total length
Figure 189194DEST_PATH_IMAGE134
be in each timeslice T walking length adding up with; Walking length in a timeslice T is revolver and right wheel travel distance sum half the in timeslice T;
Figure 864895DEST_PATH_IMAGE150
and
Figure 867486DEST_PATH_IMAGE152
is the value that is provided with in advance; Representative value is
Figure 390871DEST_PATH_IMAGE154
,
Figure 492819DEST_PATH_IMAGE156
.
The control cleaning machine finishes to clean after accomplishing and cleaning at the bottom of near the pond of pool wall all around.
Figure 13 shows the pool cleaning robot walk path planning that the embodiment of the invention provides and the structural drawing of control system, for the ease of explanation, only shows the part relevant with the present invention.
Pool wall is sought control module 131 control cleaning machines and is sought pool wall.
Clean starting point and seek control module 132 control cleaning machines searching cleaning starting points.
Cleaning control unit, territory, base area, pond, left side 133 control cleaning machines clean territory, base area, pond, left side.
Clean the cleaning starting point of starting point reorientation control module 134 control cleaning machine reorientation cleaning machines.
Cleaning control unit, territory, base area, pond, right side 135 control cleaning machines clean territory, base area, pond, right side.
Near cleaning control unit 136 control cleaning machines clean around the pool walls at the bottom of the pond near around the pool wall at the bottom of the pond.
Cleaning finishing control unit 137 control cleaning machines finishes to clean.
Ten kinds of walking rules of walking rule definition unit 138 definition cleaning machines; The traveling method of movable motor walking manner control module 139 control movable motors.
Barrier recognition unit 1310 judges that the place ahead of cleaning machine motion direction of travel is pool wall or other barrier; The swimming pool bottom is cleaned completion judging unit 1311 and is judged whether cleaning machine accomplishes the cleaning of swimming pool bottom.
Cleaning machine walk path planning that the embodiment of the invention adopts and control method cleaning efficiency are high, and the zone of omission and repeated washing is few, and walking path is regular, to the shape no requirement (NR) of swimming pool, can hide barrier in the pond automatically; Adjustment timeslice parameter can adapt to the swimming pool that length and width reach 100m, and this is that other method is inaccessible; Barrier quantity, shape, size in the swimming pool have no requirement.
The above is merely preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of within spirit of the present invention and principle, being done, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.

Claims (21)

1. the method for cleaning machine walk path planning and walking process control is characterized in that said method comprises the steps:
The control cleaning machine is sought pool wall;
The control cleaning machine is sought and is cleaned starting point;
The control cleaning machine cleans territory, base area, pond, left side;
Starting point is cleaned in the reorientation of control cleaning machine;
The control cleaning machine cleans territory, base area, pond, right side;
The control cleaning machine cleans at the bottom of near all around pond of pool wall;
The control cleaning machine finishes to clean.
2. the method for claim 1 is characterized in that, the step that said control cleaning machine is sought pool wall is specially:
The control movable motor just changes, and makes cleaning machine turn left to advance and walks out two concentric arc lines, the distance of the control continuous detection of front side ultrasonic sensor and pool wall or barrier;
The control movable motor just changes, and makes cleaning machine walk out two parallel lines forward, and control front side ultrasonic sensor constantly detects the distance between cleaning machine center and the pool wall, up to reaching preset range.
3. the method for claim 1 is characterized in that, said control cleaning machine is sought the step of cleaning starting point and is specially:
The control cleaning machine is walked at the bottom of the pond near pool wall counterclockwise;
The movable motor of control left and right wheels just changes, and making the right wheel of cleaning machine central point is the steady state value walking of advancing apart from pool wall;
Judge whether
Figure 192622DEST_PATH_IMAGE001
and
Figure 407572DEST_PATH_IMAGE002
sets up; If set up; Then, search data set
Figure 44407DEST_PATH_IMAGE004
and respectively forward and backward from being numbered the data of
Figure 589155DEST_PATH_IMAGE003
;
Judge whether to exist numbering j; Make
Figure 182444DEST_PATH_IMAGE006
and
Figure 484112DEST_PATH_IMAGE007
; If exist; The movable motor of then controlling left and right wheels just changes, and making the right wheel of cleaning machine central point is the steady state value walking of advancing apart from pool wall;
Judge whether and
Figure 920221DEST_PATH_IMAGE009
sets up; If set up; The movable motor of then controlling left and right wheels just changes, and making the right wheel of cleaning machine central point is the steady state value walking of advancing apart from pool wall;
Wherein,
Figure 290023DEST_PATH_IMAGE004
is the distance between i timeslice left side ultrasonic sensor and the barrier;
Figure 383881DEST_PATH_IMAGE010
is the ultimate range of all
Figure 180935DEST_PATH_IMAGE004
;
Figure 789771DEST_PATH_IMAGE011
is the minor increment of all
Figure 697684DEST_PATH_IMAGE004
; The numbering that
Figure 895316DEST_PATH_IMAGE003
is
Figure 863272DEST_PATH_IMAGE010
in data set
Figure 959404DEST_PATH_IMAGE004
;
Figure 608691DEST_PATH_IMAGE005
is the walking path total length; It is j and
Figure 881651DEST_PATH_IMAGE003
pairing walking path length that ,
Figure 612737DEST_PATH_IMAGE013
are respectively numbering;
Figure 396945DEST_PATH_IMAGE014
for left with turn right to total angle; and
Figure 426398DEST_PATH_IMAGE016
is the value that is provided with in advance; Representative value is
Figure 434806DEST_PATH_IMAGE017
;
Figure 488212DEST_PATH_IMAGE018
, j is the variable of numbering.
4. the method for claim 1 is characterized in that, the step that said control cleaning machine cleans territory, base area, pond, left side is specially:
The control movable motor just changes, and walks out two parallel lines forward;
The counter-rotating of control movable motor falls back and walks out two parallel lines;
According to control cleaning machine track route with calculate data recorded, judge whether cleaning machine runs into the barrier that is not pool wall; If, control cleaning machine avoiding obstacles;
According to control cleaning machine track route with calculate data recorded, judge whether cleaning machine runs into pool wall; If the control cleaning machine squints left;
According to the track route of control cleaning machine with calculate data recorded, judge whether cleaning machine accomplishes the cleaning of left side bottom the swimming pool; If the control cleaning machine stops.
5. method as claimed in claim 4 is characterized in that, the place ahead of said judgement cleaning machine motion direction of travel is that the pool wall or the step of other barrier are specially:
Write down the distance that the left side ultrasonic sensor measures in each timeslice, distance that the front side ultrasonic sensor measures and the Cumulative Distance of having walked through photoelectric encoder calculating cleaning machine;
According to data recorded, judge whether the r distance capable and c timeslice that cleaning machine front side ultrasonic sensor measures exists less than preset value;
If exist, r is capable, and Cumulative Distance and r-1 that c timeslice walked are capable, and the Cumulative Distance that t timeslice walked compares; Find t, make r capable, it is capable that the Cumulative Distance that c timeslice walked both had been not less than r-1, and it is capable that the Cumulative Distance that t-1 timeslice walked also is not more than r-1, t the Cumulative Distance that timeslice has been walked;
Since t capable left side distance value of r-1, search the maximum range value of capable all the Distance Remaining values of r-1;
According to data recorded, judge whether maximum range value exists greater than another preset value; If exist, judge that the place ahead of cleaning machine motion direction of travel is other barrier; Otherwise, judge that the place ahead is a pool wall;
Wherein, r is a line number, and c and t are illustrated in the delegation number of the timeslice that begins to walk from pool wall.
6. method as claimed in claim 4 is characterized in that, said control cleaning machine avoids not being that the step of the barrier of pool wall is specially:
The control movable motor just changes, and makes cleaning machine turn right to advance and walks out two concentric arc lines;
The control movable motor just changes, and makes cleaning machine walk out two parallel lines forward, and travel distance is for keeping away barrier walking width;
The control movable motor just changes, and makes cleaning machine turn left to advance and walks out two concentric arc lines;
According to data recorded, judge whether the distance of left side ultrasonic sensor and barrier exists the width sum greater than the sewage suction device of keeping away barrier walking width and cleaning machine configuration; If do not exist, then control movable motor and just change, make cleaning machine walk out two parallel lines forward;
If exist, then control movable motor and just change, make cleaning machine turn left to advance and walk out two concentric arc lines.
7. method as claimed in claim 4 is characterized in that, the step that said control cleaning machine squints left after running into pool wall is specially:
The control movable motor just changes, and makes cleaning machine walk out two parallel lines forward;
The control movable motor just changes, and makes cleaning machine turn left to advance and walks out two concentric arc lines;
The counter-rotating of control movable motor makes cleaning machine turn right to retreat and walks out two concentric arc lines;
The counter-rotating of control movable motor falls back cleaning machine and walks out two parallel lines.
8. method as claimed in claim 4 is characterized in that, saidly judges whether cleaning machine is accomplished the step of the cleaning of swimming pool bottom, left side and be specially:
According to current line traveling r, if t the timeslice all to this row, the distance of capable and t the timeslice of the r that control left side ultrasonic sensor measures is all less than threshold value, after the current line of having walked, and the cleaning in territory, base area, pond on the left of cleaning machine has been accomplished;
Wherein, r is a line number, and t is illustrated in the delegation number of the timeslice that begins to walk from pool wall.
9. the method for claim 1 is characterized in that, the step that starting point is cleaned in said control cleaning machine reorientation is specially:
The control movable motor just changes, and makes cleaning machine turn left to advance and walks out two concentric arc lines, and control front side ultrasonic sensor constantly detects the distance with barrier;
The control movable motor just changes, and makes cleaning machine walk out two parallel lines forward, and control front side ultrasonic sensor constantly detects the distance between cleaning machine center and the pool wall, up to reaching preset range;
The movable motor of control left and right wheels just changes, and making the right wheel of cleaning machine central point is the steady state value walking of advancing apart from pool wall;
Judgment
Figure 327992DEST_PATH_IMAGE019
and
Figure 995603DEST_PATH_IMAGE020
is established; if established, the current position point is cleaning machine cleaning the bottom right point of departure;
Wherein, is that the left side ultrasonic sensor is in each timeslice and the distance between the barrier;
Figure 145142DEST_PATH_IMAGE010
is the ultimate range of all
Figure 777111DEST_PATH_IMAGE004
;
Figure 694252DEST_PATH_IMAGE011
is the minor increment of all
Figure 473989DEST_PATH_IMAGE004
;
Figure 557614DEST_PATH_IMAGE005
is to be the steady state value current time sheet institute walking path total length of walking that advances from the right wheel of cleaning machine central point apart from pool wall; W is the width of the sewage suction device of cleaning machine configuration; D is that cleaning machine cleans total line number of being walked in territory, base area, pond, left side;
Figure 371986DEST_PATH_IMAGE015
and
Figure 194448DEST_PATH_IMAGE016
is the value that is provided with in advance; Representative value is
Figure 399165DEST_PATH_IMAGE017
,
Figure 598065DEST_PATH_IMAGE018
.
10. the method for claim 1 is characterized in that, the step that said control cleaning machine cleans territory, base area, pond, right side is specially:
The control movable motor just changes, and walks out two parallel lines forward;
The counter-rotating of control movable motor falls back and walks out two parallel lines;
According to control cleaning machine track route with calculate data recorded, judge whether cleaning machine runs into the barrier that is not pool wall; If, control cleaning machine avoiding obstacles;
According to control cleaning machine track route with calculate data recorded, judge whether cleaning machine runs into pool wall; If the control cleaning machine squints to the right;
According to the track route of control cleaning machine with calculate data recorded, judge whether cleaning machine accomplishes the cleaning bottom the right side swimming pool; If the control cleaning machine stops.
11. the method for claim 1 is characterized in that, the step that said control cleaning machine cleans at the bottom of near all around pond of pool wall is specially:
Clean the current point after finish in territory, base area, pond, right side from the control cleaning machine;
The control cleaning machine is walked at the bottom of the pond near pool wall counterclockwise;
The movable motor of control left and right wheels just changes, and making the right wheel of cleaning machine central point is the steady state value walking of advancing apart from pool wall;
Judge whether
Figure 266944DEST_PATH_IMAGE001
and sets up; If; The data that then are
Figure 201587DEST_PATH_IMAGE003
from numbering are searched data set
Figure 938599DEST_PATH_IMAGE004
and
Figure 399668DEST_PATH_IMAGE005
respectively forward and backward;
Judge whether to exist numbering j; Make
Figure 829512DEST_PATH_IMAGE006
and ; If exist; The movable motor of then controlling left and right wheels just changes, and making the right wheel of cleaning machine central point is the steady state value walking of advancing apart from pool wall;
Judge whether
Figure 25887DEST_PATH_IMAGE008
and
Figure 669358DEST_PATH_IMAGE009
sets up; If set up; The movable motor of then controlling left and right wheels just changes, and making the right wheel of cleaning machine central point is the steady state value walking of advancing apart from pool wall;
Wherein,
Figure 4525DEST_PATH_IMAGE004
is the distance between left side ultrasonic sensor and the barrier;
Figure 671130DEST_PATH_IMAGE010
is the ultimate range of all
Figure 749944DEST_PATH_IMAGE004
;
Figure 247921DEST_PATH_IMAGE011
is the minor increment of all
Figure 19568DEST_PATH_IMAGE004
; The numbering that is in data set
Figure 392147DEST_PATH_IMAGE004
;
Figure 272378DEST_PATH_IMAGE005
is the walking path total length; It is j and
Figure 291915DEST_PATH_IMAGE003
pairing walking path length that
Figure 710313DEST_PATH_IMAGE012
,
Figure 130930DEST_PATH_IMAGE013
are respectively numbering;
Figure 405364DEST_PATH_IMAGE014
for left with turn right to total angle;
Figure 330595DEST_PATH_IMAGE015
and
Figure 554903DEST_PATH_IMAGE016
is the value that is provided with in advance; Representative value is ;
Figure 838434DEST_PATH_IMAGE018
, j is the variable of numbering.
12. the method for claim 1 is characterized in that, said method also comprises the steps:
In a timeslice, if the control cleaning machine is being kept away barrier walking, then putting distance value be-1, otherwise adopts the method for filtering again of repeatedly measuring after the distance between ultrasonic sensor and the barrier of controlling.
13. method as claimed in claim 12 is characterized in that, the said step of repeatedly measuring the method for back filtering is specially:
According to all distance values and the number thereof that in a timeslice, are obtained, calculate the minimum value and the maximal value of all distance values and define step-length; Confirm step-length according to maximal value and minimum value; Add up all distance values and drop on the number of presetting the sub-range;
The sub-range that the judgment value number is maximum, divided by the number that drops on this sub-range value, the numerical value that obtains is exactly the distance with barrier with all distance values summation backs of dropping on this sub-range.
14. the method for claim 1 is characterized in that, said method also comprises the steps:
The walking of two wheel movable motors about control.
15. method as claimed in claim 14 is characterized in that, the step of the walking of the movable motor of two wheels is specially about said control:
According to the control time interval of preset movable motor, by current control law, the number of control time sheet;
Relation between
Figure 250961DEST_PATH_IMAGE022
,
Figure 465910DEST_PATH_IMAGE023
and
Figure 647493DEST_PATH_IMAGE024
, is
Figure 674672DEST_PATH_IMAGE026
;
Figure 240782DEST_PATH_IMAGE027
; In a timeslice of beginning; ;
Figure 903025DEST_PATH_IMAGE029
; If about two movable motors begin to current time n the timeslice of having walked from starting a kind of walking rule; The initial value of putting
Figure 975630DEST_PATH_IMAGE030
and
Figure 345431DEST_PATH_IMAGE031
is 0; The initial value of n is 0, upgrades the value of
Figure 236027DEST_PATH_IMAGE030
,
Figure 970765DEST_PATH_IMAGE031
, n, and
Figure 753093DEST_PATH_IMAGE033
as follows:
Figure 950725DEST_PATH_IMAGE034
,
Figure 918681DEST_PATH_IMAGE035
,n=n+1；
if and
Figure 664100DEST_PATH_IMAGE037
; Then
Figure 529288DEST_PATH_IMAGE038
;
Figure 668145DEST_PATH_IMAGE039
, n=n-1; if
Figure 939989DEST_PATH_IMAGE040
and
Figure 189704DEST_PATH_IMAGE041
; Then ;
Figure 484737DEST_PATH_IMAGE043
, n=n+1;
Figure 493144DEST_PATH_IMAGE044
，
Figure 546551DEST_PATH_IMAGE045
；
Wherein, Two anglecs of rotation that movable motor is preset about
Figure 386331DEST_PATH_IMAGE022
and
Figure 53941DEST_PATH_IMAGE023
is respectively; Two travel distances that wheel is preset about
Figure 346382DEST_PATH_IMAGE024
and
Figure 203480DEST_PATH_IMAGE025
is respectively; Two movable motors were according to the adjusted control anglec of rotation of current walking situation about
Figure 835449DEST_PATH_IMAGE032
and
Figure 487011DEST_PATH_IMAGE033
was respectively; Two movable motors about
Figure 532327DEST_PATH_IMAGE046
and
Figure 618881DEST_PATH_IMAGE047
is respectively since wheel-slip or other disturbance factor cause through the detected actual anglec of rotation of rotary encoder; About
Figure 167674DEST_PATH_IMAGE048
and
Figure 255716DEST_PATH_IMAGE049
is respectively the actual anglec of rotation of two movable motors accumulation with control poor between the anglec of rotation; N is the number of the timeslice of walking; R is the radius of left and right sides two-wheeled, and k is the gear reduction ratio with the motor configuration;
In next timeslice, the control cleaning machine is by the control anglec of rotation walking after upgrading.
16. the method for claim 1 is characterized in that, said method also comprises the steps:
The control movable motor just changes, and makes cleaning machine walk out two parallel lines forward;
The counter-rotating of control movable motor falls back cleaning machine and walks out two parallel lines;
The control movable motor just changes, and the cleaning machine revolver is advanced walk out two concentric arc lines;
The control movable motor just changes, and makes cleaning machine turn right to advance and walks out two concentric arc lines;
The counter-rotating of control movable motor makes cleaning machine turn left to retreat and walks out two concentric arc lines;
The counter-rotating of control movable motor makes cleaning machine turn right to retreat and walks out two concentric arc lines;
Control revolver movable motor just changes, and the counter-rotating of right wheel movable motor makes cleaning machine certain some rotation on line between the left and right wheels central point, and revolver rotates by working direction, and right wheel rotates by direction of retreat;
The counter-rotating of control revolver movable motor, right wheel movable motor just changes, and makes cleaning machine certain some rotation on line between the left and right wheels central point, and revolver rotates by direction of retreat, and right wheel rotates by working direction;
The movable motor of control left and right wheels just changes, and making the right wheel of cleaning machine central point is the steady state value walking of advancing apart from pool wall;
The movable motor of control left and right wheels just changes, and making cleaning machine revolver central point is the steady state value walking of advancing apart from pool wall.
17. the device of cleaning machine walk path planning and walking process control is characterized in that said device comprises:
Pool wall is sought control module, is used to control cleaning machine and seeks pool wall;
Clean starting point and seek control module, be used to control cleaning machine and seek the cleaning starting point;
Cleaning control unit, territory, base area, pond, left side is used to control cleaning machine and cleans territory, base area, pond, left side;
Clean starting point reorientation control module, be used to control the cleaning starting point of cleaning machine reorientation cleaning machine;
Cleaning control unit, territory, base area, pond, right side is used to control cleaning machine and cleans territory, base area, pond, right side;
Near cleaning control unit at the bottom of the pond around the pool wall, be used to control cleaning machine clean around the pool wall near at the bottom of the pond;
Clean the finishing control unit, be used to control cleaning machine and finish to clean.
18. device as claimed in claim 17 is characterized in that, said device also comprises:
Walking rule definition unit is used to define ten kinds of walking rules of cleaning machine;
Movable motor walking manner control module is used to control the traveling method of movable motor.
19. device as claimed in claim 17 is characterized in that, said device also comprises:
The barrier recognition unit is used to judge that the place ahead of cleaning machine motion direction of travel is pool wall or other barrier.
20. device as claimed in claim 17 is characterized in that, said device also comprises:
The swimming pool bottom is cleaned and is accomplished judging unit, is used to judge whether cleaning machine accomplishes the cleaning of swimming pool bottom.
21. described cleaning machine of arbitrary claim that comprises claim 17 to 20.
CN2012102612395A 2012-07-26 2012-07-26 Walking control method and device of cleaning machine Pending CN102799180A (en)

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CN114442639A (en) * 2022-02-18 2022-05-06 智橙动力(北京)科技有限公司 Swimming pool cleaning robot edge-approaching control method and device and electronic equipment
CN114505269A (en) * 2022-02-18 2022-05-17 国网电子商务有限公司 Photovoltaic module waterless cleaning robot and control method thereof
CN114756034A (en) * 2022-06-13 2022-07-15 北京蒙帕信创科技有限公司 Robot real-time obstacle avoidance path planning method and device
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CN114233063A (en) * 2021-12-07 2022-03-25 深圳市思傲拓科技有限公司 Swimming pool cleaning robot and steering method
CN114442639A (en) * 2022-02-18 2022-05-06 智橙动力(北京)科技有限公司 Swimming pool cleaning robot edge-approaching control method and device and electronic equipment
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