CN103941307A - Cleaning robot and controlling method thereof for avoiding barriers - Google Patents
Cleaning robot and controlling method thereof for avoiding barriers Download PDFInfo
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- CN103941307A CN103941307A CN201410184884.0A CN201410184884A CN103941307A CN 103941307 A CN103941307 A CN 103941307A CN 201410184884 A CN201410184884 A CN 201410184884A CN 103941307 A CN103941307 A CN 103941307A
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- 230000004888 barrier function Effects 0.000 title claims abstract description 91
- 238000004140 cleaning Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims description 34
- 230000003287 optical effect Effects 0.000 claims description 170
- 238000001514 detection method Methods 0.000 claims description 11
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 12
- 230000008859 change Effects 0.000 description 8
- 239000000428 dust Substances 0.000 description 8
- 239000000463 material Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 235000004443 Ricinus communis Nutrition 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000746 body region Anatomy 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
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- 239000012535 impurity Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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Abstract
The invention relates to a cleaning robot, comprising at least a group of light emission and reception components, wherein each group of light emission and reception components comprises a light emission unit with two light emitters and a light reception unit with a light receiver, the two light emitters can emit two light beams with a large beam angle and a small beam angle respectively, the light emission area corresponding to the two light emitters and the light reception area corresponding to the light receiver are partially overlapped. As each group of light emission and reception components is provided with a first light emitter and a second light emitter which can emit light beams with different beam angles, the light receiver has higher receiving efficiency when being used for receiving the two reflected light beams from barriers, and also the robot is not influenced by texture and shape of the barriers when being used for judging whether the robot body is close to the barriers, so that the cleaning robot can well clean even in the surrounding area of the barriers when being used for cleaning.
Description
Technical field
The present invention relates to a kind of clean robot and control method thereof.
Background technology
Clean robot is a kind of full intelligent cleaning device, and this device cleans remaining cleaning by autonomous on cleaned cleaning area in the situation that not controlled by user.Because clean robot is automated movement, therefore in moving process, can run into unavoidably the barrier such as wall, furniture.And after once robot and barrier bump, the moving direction of robot will change, and this change is difficult to control, therefore, in prior art, on clean robot, be provided with barrier sensing module, can make clean robot few the bumping with barrier of trying one's best by the thing sensing module of placing obstacles.
At present, the principle of work of the barrier sensing module on clean robot is for passing through sensor emission light, ultrasound wave etc., and the light or the ultrasound wave that after by barrier reflection, return with the form detection of detection signal.The time difference, phase differential or intensity difference based between detection signal, obstacle sensor distinguishes whether have barrier and the distance from sensor to barrier.Obstacle sensor can light or hyperacoustic reflection angle based on being reflected be distinguished the distance from sensor to barrier.The drawback that the sensing module that utilizes utilizing emitted light to detect barrier exists is: in the time that barrier surface is not the different barrier of flat surface or absorptivity surface, the time that barrier sensing module can detect can be different, will cause like this robot to have and far have closely apart from the distance of barrier in the time carrying out avoiding obstacles instruction, thereby make robot can not complete unified cleanliness standard.The drawback that the sensing module that utilizes ultrasound wave to detect barrier exists is: acoustic emission needs certain sweep time, based on this reason, may cause robot directly and barrier bumps.
Summary of the invention
For the technical deficiency of above-mentioned existence, the first object of the present invention is to provide the high clean robot of a kind of barrier sensing efficiency.
The second object of the present invention be to provide a kind of efficiently, for controlling the control method of clean robot avoiding obstacles.
In order to reach the first above-mentioned object, the present invention adopts following technical scheme:
A kind of clean robot, comprise robot body, drive driver module that described robot body moves and/or rotate in region to be cleaned, be arranged on described robot body and be used to detect the barrier sensing module that whether has barrier in cleaning area, the main control module of controlling described driver module work, described barrier sensing module comprises at least one group of light transceiver module, and the described light transceiver module of each group comprises:
Optical Transmit Unit, comprise the first optical transmitting set that is provided with the first light source and the second optical transmitting set that is provided with secondary light source, the first described optical transmitting set has the first axial line and can send first light beam with the first beam angle, the first described optical transmitting set correspondence has the first light emitting area, the second described optical transmitting set has the second axial line and can send second light beam with the second beam angle and maybe can send thin parallel beam, the second described optical transmitting set correspondence has the second light emitting area, the angle of the first described beam angle is greater than the angle of the second described beam angle, the first described optical transmitting set and the second optical transmitting set be the corresponding light beam of alternate emission successively,
Light receiving unit, comprise the optical receiver that is provided with light activated element, the first light beam described in described optical receiver can receive runs into the first reflected light behind barrier surface and receives the second described light beam and runs into the second reflected light behind barrier surface, described optical receiver and described main control module connect with signal, described optical receiver has the 3rd axial line and can receive the light beam with the 3rd beam angle, described optical receiver correspondence has optical receiving region, and the angle of the 3rd described beam angle is greater than the angle of the second described beam angle;
The first described light emitting area and described optical receiving region have subregion overlaid, the second described light emitting area and described optical receiving region have subregion overlaid, the second described axial line and the described crossing formation of the 3rd axial line first-phase intersection point, described first-phase intersection point is positioned at the first described light emitting area and the described equitant region of optical receiving region.In technique scheme, preferably, the first described axial line and the described crossing formation of the 3rd axial line second-phase intersection point, described first-phase intersection point to described robot body's distance is greater than the distance of described second-phase intersection point to described robot body.
In technique scheme, preferred, the first described beam angle is to be more than or equal to the angle of 50 °.
In technique scheme, preferred, the 3rd described beam angle is to be more than or equal to the angle of 50 °.
In technique scheme, preferred, the second described beam angle is greater than 0 ° and is less than or equal to the angle of 15 °.
In technique scheme, preferred, the first described optical transmitting set setting adjacent with the second optical transmitting set, the first described axial line roughly parallels with the second described axial line.
In technique scheme, preferred, the first described axial line and described the 3rd axial line taking the center line of this group light transceiver module as axis of symmetry symmetrical.
In technique scheme, preferably, the first described optical transmitting set comprises the first support for the first light source is installed, the second described optical transmitting set comprises the second support for secondary light source is installed, described optical receiver comprises the 3rd support for light activated element is installed, and described the first support, the second support, the 3rd support are wholely set.
In order to reach the second above-mentioned goal of the invention, the invention provides a kind ofly for controlling the method for above-mentioned clean robot avoiding obstacles, the method comprises the steps:
Can the continuous detection of described optical receiver receive the first reflected light signal or the second reflected light signal, if receive the first reflected light signal or the second reflected light signal, the first reflected light being received or the second reflected light signal are real-time transmitted to described main control module;
In the time that described main control module can receive the first reflected light signal being transmitted by described optical receiver and can receive again the second reflected light signal being transmitted by described optical receiver in setting-up time, described main control module starts judgement and receives the magnitude relationship by the second intensity of reflected light of described optical receiver transmission at every turn, as this second intensity of reflected light receiving is less than the second intensity of reflected light that the last time receives, described master control module controls driver module is carried out the instruction of avoiding obstacles.
In technique scheme, preferably, in described main control module, be provided with a light intensity threshold values, in the time that described main control module receives the first intensity of reflected light being transmitted by described optical receiver and is more than or equal to described light intensity threshold values, the driver module described in described master control module controls reduces robot body's pace in the situation that not changing current robot main body working direction.
Beneficial effect of the present invention is: by the first optical transmitting set and second optical transmitting set that can send the light beam with different beam angles are set, make optical receiver can receive two kinds of different reflected light, while judging robot body whether near barrier by these two kinds of catoptrical intensity, thereby make clean robot in the time carrying out cleaning, can not be subject to the impact of barrier Facing material and shape, accurately avoiding obstacles.
Brief description of the drawings
The schematic diagram that accompanying drawing 1 is clean robot of the present invention;
The structural representation that accompanying drawing 2 is smooth transceiver module of the present invention;
The schematic diagram that accompanying drawing 3 is smooth transceiver module of the present invention;
Distance relation between the first intensity of reflected light and barrier and robot body that accompanying drawing 4 receives when the work for optical receiver of the present invention;
Distance relation between the second intensity of reflected light and barrier and robot body that accompanying drawing 5 receives when the work for optical receiver of the present invention;
The schematic diagram of the light transceiver module that accompanying drawing 6 is another embodiment of the present invention;
Wherein: 1, robot body; 2, input/output module; 3, light transceiver module; 4, Optical Transmit Unit; 5, light receiving unit; 41, the first optical transmitting set; 42, the second optical transmitting set; 411, the first light source; 412, the first support; 421, secondary light source; 422, the second support; 413, the first axial line; 423, the second axial line; 51, optical receiver; 511, light activated element; 512, the 3rd support; 513, the 3rd axial line.
Embodiment
Below in conjunction with embodiment shown in the drawings, the utility model is described in detail below:
Clean robot as shown in Fig. 1, this clean robot is a kind of clean robot for floor suction, it is not in the situation that needing user to control in real time, advance in region to be cleaned and for example, carry out the device in automated cleaning region to be cleaned simultaneously by the ground suction impurity (, dust) from cleaning area.This clean robot comprises robot body 1, cradle (not shown), telepilot (not shown) etc.
Robot body 1 is provided with the cleaning module (not shown) for clean space to be cleaned, for the driver module (not shown) that makes robot body 1 move and/or rotate, receive for the operational order of clean robot and also show the input/output module 2 about clean robot operation information, be positioned at the barrier sensing module of clean barrier for sensing, for storing the data storage module (not shown) of various data, for the power module (not shown) to robot body's power supply, for the main control module (not shown) of control main body.Wherein, barrier sensing module is installed to robot body 1 front side (in the time watching along the direct of travel of clean robot), and input/output module 2 is arranged on robot body 1 top.
Cleaning module generally includes: main brush unit, and cleaning is present in ground dust, so that the dust of cleaning is directed to suction inlet; Side brush unit, clean region and corner regions near wall.Main brush unit can be arranged on the opening (being suction port) that is formed at robot body's lower bottom part and locate, to clean the ground dust that accumulates in robot body present position.Opening operated by rotary motion is on the first half of robot body's lower bottom part.Opening can be used as sucking the dust entrance of dust.Cleaning module also comprises the vacuum source unit being arranged in robot body, to produce suction.Vacuum source unit is for moving in the dust-collecting box of robot body inside the dust that is introduced in dust entrance.
Driver module generally includes a pair of travel wheel and castor, according to the control signal of advancing, robot body is moved; Castor can be in for a change working direction and rotate the attitude that keeps stable of robot body simultaneously.A pair of travel wheel can medially be arranged according to symmetrical mode the both sides place of robot body's bottom.A pair of travel wheel can be carried out and comprise motor performance mobile and rotation under the control of the main control module of clean robot.Castor can be arranged on the lead edge portion place of robot body's lower bottom part.
Input/output module 2 is arranged on robot body's top.Input/output module 2 comprises: multiple action buttons, input the operational order for clean robot by user; Display panel, shows the information about the operation of clean robot, for example, and the information that whether turns round about clean robot, about the information of traveling mode etc.
Barrier sensing module comprises many group light transceiver modules 3, these light transceiver modules 3 are uniformly distributed that on the periphery wall of the first half that is arranged on robot body 1, (forward and backward position is herein to distinguish with the direct of travel of clean robot, when robot body moves in cleaning area, all the time move from back to front, that mentions below is forward and backward equidirectional identical therewith), respectively organize light transceiver module 3 and all there is a search coverage that comprises obstacle detection direction and detection range.The detection direction of light transceiver module 3 be a bit towards robot body 1 dead ahead, some is towards robot body's left front or left side, some is towards robot body 1 right front or right side, the far and near distance that detection range can be surveyed for light transceiver module.In the time that many group light transceiver modules 3 are installed, ensure that the obstacle detection region of these light transceiver modules 3 can at least cover robot body 1 the corresponding region of first half.Whether light transceiver module 3 can find to have barrier to exist in obstacle detection region separately, thereby provides foundation for master control module controls robot body 1 carries out avoiding obstacles instruction.Followingly will describe the concrete structure of each group of light transceiver module 3 in detail.
One group of light transceiver module 3 as shown in Figure 2, it is made up of Optical Transmit Unit 4 and light receiving unit 5 two parts.Optical Transmit Unit 4 has the first optical transmitting set 41 and the second optical transmitting set 42, the first optical transmitting set 41 and the adjacent setting of the second optical transmitting set 42, the first optical transmitting set 41 comprises the first light source 411, comprises secondary light source 421 for the first support 412, the second optical transmitting sets of the first light source 411 are installed, for the second support 422 of light source 421 is installed.The first light source 411 and secondary light source 421 can be selected the luminescent devices such as light emitting diode (LED), and the light sending from the first light source 411 and secondary light source 421 can be invisible infrared ray, visible ray etc.Optical receiver 5 comprises an optical receiver 51, and optical receiver 51 can receive the first reflected light and the second light beam that the first light beam runs into behind barrier surface and run into the second reflected light behind barrier surface.Optical receiver 51 comprises light activated element 511, for the 3rd support 512 of light activated element 511 is installed.In this embodiment, in order to reduce the quantity of parts, the first support 412, the second support 422, the 3rd support 512 are wholely set.
As shown in Figure 3, the first optical transmitting set 41 has the first axial line 413 and can send first light beam with the first beam angle α, and the first beam angle α is more than or equal to the angle of 50 °.The axial line that the first axial line 413 is herein optical system, be optical axis or the center line of the light beam that the first optical transmitting set 41 sends, the light beam that the first optical transmitting set 41 sends rotates around this first axial line 413, without any the variation of optical characteristics (following the second axial line of mentioning, the 3rd axial line identical with the first axial line meaning herein).Corresponding the first axial line 413 of the first optical transmitting set 41 and the first beam angle α have the first light emitting area S1, and this region S1 is a wide emitting area.The second optical transmitting set 42 has the second axial line 423 and can send second light beam with the second beam angle β, the second beam angle β is greater than 0 to be less than or equal to the angle of 15 °, corresponding the second axial line 423 of the second optical transmitting set 42 and the second beam angle β have the second light emitting area S2, and this region S2 is a narrow emitting area.For make following optical receiver 5 can interference-free reception the first light beam and the second light beam run into two femoral reflex light after barrier surface emitting, the first optical transmitting set 41 and the second optical transmitting set 42 are arranged to the successively corresponding light beam of alternate emission.The first axial line 413 of the first optical transmitting set 41 parallels with the second axial line 423 of the second optical transmitting set 42.Optical receiver 51 has the 3rd axial line 513 and can receive the light beam with the 3rd beam angle γ, the 3rd beam angle γ is more than or equal to the angle of 50 °, corresponding the 3rd axial line 513 of optical receiver 51 and the 3rd beam angle γ have optical receiving region S3, and this region S3 is also a wide receiving area.Because the first light beam and the second light beam are alternate emission successively, therefore in the time that the first reflected light and the second reflected light all can enter in optical receiving region, optical receiver 51 is also that priority alternately receives the first reflected light and second catoptrical.In this embodiment, the first axial line 413 and the 3rd axial line 513 are with the center line P of this group light transceiver module
1for axis of symmetry is symmetrical set.The first light emitting area S1 of the first optical transmitting set 41 and the optical receiving region S3 of optical receiver 51 have subregion overlaid, and the second light emitting area S2 of the second optical transmitting set 42 and the optical receiving region S3 of optical receiver 51 have subregion overlaid.The first axial line 413 of the first optical transmitting set 41 with the 3rd axial line 513 of optical receiver 51 at crossing formation second-phase intersection point O
2, the second axial line 423 and the 3rd axial line 513 intersect formation first-phase intersection point O
1, first-phase intersection point O
1be positioned at the first light emitting area S1 and the equitant region of optical receiving region S1, and first-phase intersection point O
1be greater than second-phase intersection point O to robot body 1 distance
2to robot body 1 distance.
Set forth the course of work of respectively organizing light transceiver module 3 below: robot body 1 moves forward and carries out cleaning in cleaning area, the first optical transmitting set 41 and the second Optical Transmit Unit 42 priority alternate emissions have first light beam at angle pencil of ray angle and have second light beam at arrow beam of light angle.When in the time that the first optical transmitting set 41 and the second optical transmitting set 42 occur barrier in the corresponding search coverage of this light transceiver module 3, the first light beam and the second light beam can reflect (or diffuse reflection) and form respectively the first reflected light and the second reflected light being irradiated to behind barrier surface.The second light beam that the first light beam sending due to the first optical transmitting set 41 sends compared with the second optical transmitting set 42 has larger beam angle, therefore running into after barrier, first optical receiver 51 will receive the first catoptrical signal, and along with robot body 1 is nearer to barrier, the first catoptrical intensity that optical receiver 51 receives will be more and more stronger.In this simultaneously, in along with the process of robot body 1 near barrier, the second reflected light can progress in optical receiving region S3 and be received by optical receiver 51, because the second light emitting area S2 is a narrow receiving area, the second catoptrical intensity that optical receiver 51 receives in the time starting is like this lower, along with robot body 1 is more and more near barrier, the second catoptrical intensity that optical receiver 51 receives starts to strengthen, when barrier with respect to robot body 1 position for reaching first-phase intersection point O
1, the second catoptrical intensity that now optical receiver 51 receives reaches the strongest when at the place, and then, along with robot body 1 is more and more near barrier, the second intensity of reflected light that optical receiver 51 receives starts to weaken.
The first reflected light that optical receiver 51 as shown in Figure 4,5 receives and the second intensity of reflected light random device human agent apart from barrier far and near and change relation.The barrier that there is shown three kinds of different outside surface colors is running into after the first light beam and the second light beam, the first intensity of reflected light that optical receiver can receive and the second intensity of reflected light.Because black surface is higher to the absorptivity of light, grey is taken second place, white is minimum, and therefore in three kinds of situations, optical receiver 51 receives the first intensity of reflected light and the second intensity of reflected light is all not identical, but the change curve seeing through in figure can find out that its total Changing Pattern is roughly the same.Optical receiver 51 shown in Fig. 4 receives the variation relation that corresponding the first intensity of reflected light random device human agent of the first optical transmitting set 41 produces apart from the far and near difference of barrier, in the more and more less process of the distance of robot body 1 and barrier, the first strengthen continuously of the first intensity of reflected light that optical receiver 51 can receive, when barrier is to arrive the above-mentioned second-phase intersection point O of place mentioning with respect to robot body 1 position
2time, the first intensity of reflected light that optical receiver 51 receives reaches the strongest, and then, along with robot body 1 is nearer apart from barrier, the first intensity of reflected light will weaken again gradually.Shown in Fig. 5 is corresponding the second intensity of reflected light change curve of the second optical transmitting set 42 that optical receiver 51 receives, optical receiver in itself and accompanying drawing 4 is worked under same working environment, in the more and more less process of the distance of robot body 1 and barrier, the second intensity of reflected light that optical receiver 51 can receive is strengthen continuously at the beginning, when barrier is to arrive the above-mentioned first-phase intersection point O of place mentioning with respect to robot body 1 position
1time, it is maximum that the second intensity of reflected light that optical receiver 51 receives reaches, and then, along with robot body 1 is nearer apart from barrier, the second intensity of reflected light weakens again gradually.
Based on above-mentioned analysis, robot body 1 is in the close moving process of barrier, the first intensity of reflected light and the second intensity of reflected light that optical receiver 51 receives all first increase then and reduce, for optical receiver 51, the variation of the second intensity of reflected light receiving is more sensitive compared with the variation of the first intensity of reflected light, therefore the control barrier process in main control module or principle design can be become to following thought, be that whether to receive corresponding the first reflected light of the first optical transmitting set 41 be whether to judge in robot body 1 cleaning area the basis of necessary being barrier to optical receiver 51, corresponding the second catoptrical intensity of the second optical transmitting set 42 that optical receiver 51 is received is from increasing to the turning point that reduces as judging that robot body 1 need to start to carry out barrier and avoid the key condition of instruction.
In the process of carrying out towards close barrier robot body 1, the beam angle of the first light beam of launching due to the first optical transmitting set 41 is greater than the beam angle of the second light beam that the second optical transmitting set 42 launches, and therefore optical receiver 51 receives the first catoptrical time point ratio to receive the second catoptrical time point more Zao.In addition, due to second-phase intersection point O
2than first-phase intersection point O
1nearer apart from robot body 1, thereby robot body 1 in the process near barrier, first there is peak value and weaken (being that Strength Changes is more sensitive) in the second intensity of reflected light that optical receiver 51 receives, and this peak value can, along with the material on barrier surface changes and change, be not the position of comparatively fixing with weakening corresponding robot body 1 with the relative distance of barrier.Also therefore, by barrier with respect to robot body 1 position for reaching " first-phase intersection point O
1" locate to be arranged to robot body and need to carry out the condition of the instruction of avoiding obstacles, so that robot body 1 can be advanced to the direction away from barrier.Robot body 1 in the moving process near barrier, when starting to weaken, the second intensity of reflected light receiving when optical receiver 52 (crosses " first-phase intersection point O
1"), robot body 1 starts to carry out the instruction of avoiding obstacles.
Judge that whether intensity of reflected light starts to weaken is that the size of the second intensity of reflected light of receiving by continuous comparison optical receiver realizes, when the second intensity of reflected light of this acquisition, (the second intensity of reflected light is herein generally the mean value of the second intensity of reflected light in certain hour section, lower with) record the second intensity of reflected light than last time when low, think and start to weaken.The robot body 1 of the present embodiment is not subject to the impact of barrier Facing material in the time of avoiding obstacles, as long as by setting " first-phase intersection point O
1" relative position, control main body region how far around apart from barrier is cleaned accurately.
Set forth the method for the clean robot avoiding obstacles for controlling the present embodiment below, the method is used for robot at operation process avoiding obstacles, in the method, in barrier sensing module, each group light transceiver module 3 is worked simultaneously, and any one group of transceiver module 3 can provide the foundation of carrying out avoiding obstacles instruction for main control module.Below in conjunction with one group of transceiver module 3 wherein and main control module cooperatively interact set forth the method for controlling clean robot avoiding obstacles, the method is specific as follows:
In robot body 1 moving process, what the first optical transmitting set 41 and the second optical transmitting set 42 successively replaced sends the first light beam and the second light beam, and optical receiver 51 is in running order and the first reflected light signal receiving and/or the second reflected light signal are real-time transmitted to main control module all the time.In the time that main control module receives the first reflected light signal being transmitted by optical receiver 51, can judge robot body 1 and have barrier at the surveyed area that is positioned at this transceiver module 3, now main control module under the basis that can receive the first reflected light signal being transmitted by optical receiver 51, continue monitoring its can receive the second reflected light signal being transmitted by optical receiver 51, as main control module, in setting-up time, (this setting-up time is the time of establishing in main control module, only has the test through this setting-up time, just can show that main control module can continue, stablize and receive first of optical receiver transmission, two intensity of reflected light signals) can receive the first reflected light signal being transmitted by optical receiver 51 and can receive the second reflected light signal being transmitted by optical receiver 51 again time, main control module starts the each magnitude relationship to the second intensity of reflected light being transmitted by optical receiver 51 of judgement, be less than the last time and receive the second intensity of reflected light of being transmitted by optical receiver 51 (being the position of position for crossing " first-phase intersection point " that barrier is equivalent to robot body 1) as this receives the second intensity of reflected light being transmitted by optical receiver 51, main control module sends the instruction of carrying out avoiding obstacles to driver module, driver module control main body 1 moves to the direction away from barrier.
Above-mentioned main control module determines that can receive the first reflected light signal being transmitted by optical receiver 51 be to judge that robot body 1 accepts in current this light transmitting the basis that whether has barrier to exist in the search coverage of assembly 3, if receive the first reflected light signal being transmitted by optical receiver 51, show that robot body 1 necessarily exists barrier in corresponding search coverage, only have through this step, just can avoid robot body 1 maloperation avoiding obstacles instruction in traveling process.Can receive the first reflected light signal being transmitted by optical receiver 51 at main control module, start again to judge the magnitude relationship that at every turn receives the second intensity of reflected light being transmitted by optical receiver 51, be less than the last time and receive the second intensity of reflected light being transmitted by optical receiver 51 as this receives the second intensity of reflected light being transmitted by optical receiver 51, receive the second intensity of reflected light being received by optical receiver 51 and start to weaken, show barrier with respect to robot body 1 position for crossing first-phase intersection point O
1position, now robot phase main body 1 must be carried out the instruction of avoiding obstacles immediately, changes current moving direction and collides to prevent robot body 1 and barrier.
In clean robot barrier sensing module in this embodiment, owing to all having adopted two optical transmitting sets can send the light beam with different beam angles in each group light transceiver module 3, so in use, no matter the Facing material of barrier and shape are how different, light transceiver module 3 is the accurately barrier of sensing of energy all, and because the last instruction of carrying out avoiding obstacles is based on detecting whether intensity of reflected light is reducing tendency, instead of concrete intensity of reflected light value, therefore, this clean robot is in the time running into the barrier surface with unlike material, when it carries out avoiding obstacles instruction, the distance of itself and barrier is basic identical, thereby make this clean robot in the position very near near barrier, to carry out cleaning and can not collide with barrier.
In addition, in order to make robot body 1 to carry out the instruction of avoiding obstacles thering is time enough, in main control module, be provided with a light intensity threshold values, in the time that main control module receives the first intensity of reflected light being transmitted by optical receiver 51 and is more than or equal to this light intensity threshold values, master control module controls driver module reduces robot body 1 pace in the situation that not changing current working direction.This step can avoid robot because inertia effect has had little time execution avoiding obstacles on the horizon instruction.Because this light intensity threshold values is a concrete numerical value, when therefore robot body 1 runs into the barrier of Facing material difference (being mainly absorptivity difference), in the time carrying out reduction of speed instruction, its distance apart from barrier is also different.
In above-described embodiment, also can select the optical transmitting set for sending thin parallel beam to substitute the second optical transmitting set 42, as shown in Figure 6, be the schematic diagram of the light transceiver module of another embodiment of the present invention; The second optical transmitting set 42 ' of selecting in this embodiment is for sending the optical transmitting set of thin parallel beam, form the second narrower light emitting area S2 ', the effect of the second optical transmitting set 42 in effect and above-described embodiment that such the second optical transmitting set 42 ' reaches is basic identical, does not repeat them here.
Above-described embodiment is only explanation technical conceive of the present invention and feature, and its object is to allow person skilled in the art can understand content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences that spirit is done according to the present invention change or modify, within all should being encompassed in protection scope of the present invention.
Claims (10)
1. a clean robot, comprise robot body, drive driver module that described robot body moves and/or rotate in region to be cleaned, be arranged on described robot body and be used to detect the barrier sensing module that whether has barrier in cleaning area, the main control module of controlling described driver module work, it is characterized in that: described barrier sensing module comprises at least one group of light transceiver module, the described light transceiver module of each group comprises:
Optical Transmit Unit, comprise the first optical transmitting set that is provided with the first light source and the second optical transmitting set that is provided with secondary light source, the first described optical transmitting set has the first axial line and can send first light beam with the first beam angle, the first described optical transmitting set correspondence has the first light emitting area, the second described optical transmitting set has the second axial line and can send second light beam with the second beam angle and maybe can send thin parallel beam, the second described optical transmitting set correspondence has the second light emitting area, the angle of the first described beam angle is greater than the angle of the second described beam angle, the first described optical transmitting set and the second optical transmitting set be the corresponding light beam of alternate emission successively,
Light receiving unit, comprise the optical receiver that is provided with light activated element, the first light beam described in described optical receiver can receive runs into the first reflected light behind barrier surface and receives the second described light beam and runs into the second reflected light behind barrier surface, described optical receiver and described main control module connect with signal, described optical receiver has the 3rd axial line and can receive the light beam with the 3rd beam angle, described optical receiver correspondence has optical receiving region, and the angle of the 3rd described beam angle is greater than the angle of the second described beam angle;
The first described light emitting area and described optical receiving region have subregion overlaid, the second described light emitting area and described optical receiving region have subregion overlaid, the second described axial line and the described crossing formation of the 3rd axial line first-phase intersection point, described first-phase intersection point is positioned at the first described light emitting area and the described equitant region of optical receiving region.
2. clean robot according to claim 1, it is characterized in that: the first described axial line and the described crossing formation of the 3rd axial line second-phase intersection point, described first-phase intersection point to described robot body's distance is greater than the distance of described second-phase intersection point to described robot body.
3. clean robot according to claim 1, is characterized in that: the first described beam angle is to be more than or equal to the angle of 50 °.
4. clean robot according to claim 1, is characterized in that: the 3rd described beam angle is to be more than or equal to the angle of 50 °.
5. clean robot according to claim 1, is characterized in that: the second described beam angle is greater than 0 ° and is less than or equal to the angle of 15 °.
6. clean robot according to claim 1, is characterized in that: the first described axial line and described the 3rd axial line taking the center line of this group light transceiver module as axis of symmetry symmetrical.
7. clean robot according to claim 1, is characterized in that: the first described optical transmitting set setting adjacent with the second optical transmitting set, the first described axial line roughly parallels with the second described axial line.
8. clean robot according to claim 1, it is characterized in that: the first described optical transmitting set comprises the first support for the first light source is installed, the second described optical transmitting set comprises the second support for secondary light source is installed, described optical receiver comprises the 3rd support for light activated element is installed, and described the first support, the second support, the 3rd support are wholely set.
9. for controlling a method for the clean robot avoiding obstacles as described in any one of claim 1 to 8, the method comprises the steps:
Can the continuous detection of described optical receiver receive the first reflected light signal or the second reflected light signal, if receive the first reflected light signal or the second reflected light signal, the first reflected light being received or the second reflected light signal are real-time transmitted to described main control module;
In the time that described main control module can receive the first reflected light signal being transmitted by described optical receiver and can receive again the second reflected light signal being transmitted by described optical receiver in setting-up time, described main control module starts judgement and receives the magnitude relationship by the second intensity of reflected light of described optical receiver transmission at every turn, as this second intensity of reflected light receiving is less than the second intensity of reflected light that the last time receives, described master control module controls driver module is carried out the instruction of avoiding obstacles.
10. according to claim 9 for controlling the method for clean robot avoiding obstacles, it is characterized in that: in described main control module, be provided with a light intensity threshold values, in the time that described main control module receives the first intensity of reflected light being transmitted by described optical receiver and is more than or equal to described light intensity threshold values, the driver module described in described master control module controls reduces robot body's pace in the situation that not changing current robot main body working direction.
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| CN201410184884.0A CN103941307B (en) | 2014-01-13 | 2014-05-05 | A kind of clean robot and the method for controlling its avoiding obstacles |
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