CN104644061A - Self-moveable robot with correcting device and correcting method of self-moveable robot - Google Patents
Self-moveable robot with correcting device and correcting method of self-moveable robot Download PDFInfo
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- CN104644061A CN104644061A CN201310591136.XA CN201310591136A CN104644061A CN 104644061 A CN104644061 A CN 104644061A CN 201310591136 A CN201310591136 A CN 201310591136A CN 104644061 A CN104644061 A CN 104644061A
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- 238000000034 method Methods 0.000 title abstract description 5
- 238000001514 detection method Methods 0.000 claims abstract description 62
- 239000000729 antidote Substances 0.000 claims description 14
- 230000001133 acceleration Effects 0.000 claims description 8
- 229940075522 antidotes Drugs 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 4
- 230000003245 working effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- 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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a self-moveable robot with a correcting device and a correcting method of the self-moveable robot. The device comprises a main body (1); the main body (1) is provided with a control unit (2), a direction sensor (3) and a walking unit (4); the control unit controls the self-moveable robot with the correcting device to walk according to a preset walking mode; the direction sensor is used for indicating the walking direction of the robot; the main body is further provided with a border detecting sensor (5) and connected with the control unit; according to the sensing signal of the border detecting sensor, the control unit judges if the direction sensor is at a correct workings state; if the direction sensor is under a wrong working state, the direction sensor is corrected. The self-moveable robot with the correcting device is simple in structure; the border detection sensor is used for cleaning the robot so that the robot can assist the work of the direction sensor, and verify the accuracy of its detection result, so that the robot can horizontally or vertically move at a small bias.
Description
Technical field
The present invention relates to a kind of self-movement robot with apparatus for correcting and antidote thereof, belong to small household appliances manufacturing technology field.
Background technology
Existing clean robot is all rely on crawler belt or wheel to move on the work surface, and for improving cleaning efficiency, the travel track of machine is all generally be formulated for perpendicular to a limit " bow " zag trajectory (as shown in Figs. 7-8).
At present, clean robot moves at working surface according to default travel track, mainly through the direction of travel of the direction sensor such as acceleration transducer or gyroscope instruction robot.Degree of will speed up sensor is arranged on clean robot, and be connected with control unit, the motion state of clean robot is detected by acceleration transducer, testing result is fed back to control unit, if there is inclination or depart from projected route and send instruction by control unit and adjust accordingly simultaneously.But in this scenario, by the direction of travel of the electronic devices and components instruction robots such as acceleration transducer, and electronic devices and components use for a long time and can produce certain accumulated error, when there is error in acceleration transducer, the direction indication of acceleration transducer departs from the direction in initial planning path, thus clean robot can not be walked along the route of predetermined planning, larger impact is existed on clean robot cleaning efficiency on the work surface.
Summary of the invention
Technical problem to be solved by this invention is, a kind of self-movement robot with apparatus for correcting and antidote thereof is provided for the deficiencies in the prior art, by boundary detection sensor be used for clean robot can auxiliary square to working sensor, verify the accuracy of its testing result, make robot all the time can with less error level or vertically movement.
Technical problem to be solved by this invention is achieved by the following technical solution:
A kind of self-movement robot with apparatus for correcting, comprise: main body, described main body is provided with control unit, direction sensor and walking unit, described control unit is walked according to default walking mode with the self-movement robot of apparatus for correcting described in controlling, described direction sensor is used to indicate the direction of travel of robot, described main body is also provided with boundary detection sensor, described boundary detection sensor is connected with described control unit, according to the induced signal of boundary detection sensor, control unit judges whether direction sensor is in correct duty, if direction sensor is in the duty of mistake, it is corrected.
Preferably, described boundary detection sensor is at least two.
Better, end face both sides of described main body are respectively equipped with at least one boundary detection sensor.
Better, described end face is front end face or the rear end face of main body
Described boundary detection sensor is touch sensor or noncontacting proximity sensor.
Described direction sensor is acceleration transducer, gyroscope or code-disc.
The present invention also provides a kind of antidote with the above-mentioned self-movement robot with apparatus for correcting, comprises the steps:
S1: self-movement robot start is placed near frame, according to boundary detection sensor adjustment main body to the pose A relative to frame, records the angle value of now direction sensor
S2: self-movement robot, according to the walking mode walking preset, indicates the direction of travel of main body 1 by direction sensor;
S3: time near robot ambulation to frame, according to boundary detection sensor adjustment machine to the pose A relative to frame, the more now angle value of direction sensor
whether with
equal, if
be not equal to
then make correction for direction sensor angle value extremely
after, return S2, otherwise directly return S2.
More common, described frame is horizontal frame or vertical frame.
The pose A relative to frame is found quickly and accurately for convenience of self-movement robot, described boundary detection sensor is arranged at main body front end face both sides, then pose A is that main body front end is parallel with frame, certainly, described boundary detection sensor also can be arranged at main body rear end face both sides, then pose A is that main body rear end is parallel with frame.
Preferably, described boundary detection sensor adjustment main body to pose A be boundary detection sensor 5 by being arranged at main body 1 front end face both sides or rear end face both sides sense different sideband signals or only apparatus for correcting sideband signal detected.
For improving the operating efficiency of self-movement robot, described default walking mode is planned to " bow " zig-zag path perpendicular to frame or reciprocating linear route.
Preferably, when Robot is perpendicular to " bow " font mode of frame or the walking of reciprocating linear pattern, control unit runs to border at working surface to the direction of frame according to the feedback signal main control system body of direction sensor, when the boundary detection sensor being arranged at main body front end face or rear end face detects that main body pose tilts, the error of the sensor that makes correction for direction.
The present invention is simple with the self-movement robot structure of apparatus for correcting, boundary detection sensor is used for clean robot can auxiliary square to working sensor, verify the accuracy of its testing result, robot can be moved with less error all the time.
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in detail.
Accompanying drawing explanation
Fig. 1 is the self-movement robot control structure block diagram with apparatus for correcting;
Fig. 2 is the schematic diagram that boundary detection sensor is arranged at both sides, main body front end;
Fig. 3 is the schematic diagram that boundary detection sensor is arranged at both sides, main body rear end;
Fig. 4 is the antidote block diagram of the self-movement robot with apparatus for correcting;
Fig. 5 is the correcting process schematic diagram that boundary detection sensor is arranged at both sides, main body front end;
Fig. 6 is the correcting process schematic diagram that boundary detection sensor is arranged at both sides, main body rear end;
Fig. 7 is that prior art wipes clean robot legacy paths planning (horizontal direction) schematic diagram;
Fig. 8 is that prior art wipes clean robot legacy paths planning (vertical direction) schematic diagram.
Detailed description of the invention
Fig. 1 is the self-movement robot control structure block diagram with apparatus for correcting, Fig. 2 is the structural representation of the clean robot embodiment one with apparatus for correcting, as Fig. 2 and with reference to shown in figure 1, a kind of self-movement robot with apparatus for correcting, comprise: main body 1, described main body 1 is provided with control unit 2, direction sensor 3 and walking unit 4, described control unit 2 controls described self-movement robot and walks according to default walking mode, as walked or reciprocating linear walking perpendicular to " bow " font of frame, described direction sensor 3 is used to indicate the direction of travel of robot, described direction sensor 3 can be acceleration transducer, gyroscope or code-disc etc.As shown in Figure 5, with the forward direction that shown by arrow direction indication is self-movement robot, a boundary detection sensor 5 is respectively established on the both sides, front end of main body 1, as shown in Figure 2, described boundary detection sensor 5 is connected with described control unit 2, according to the induced signal of boundary detection sensor 5, control unit 2 judges whether direction sensor is in correct duty, if direction sensor 3 is in the duty of mistake, it is corrected, it is to be noted, respectively establish a boundary detection sensor 5 to be only a kind of set-up mode cited by the present embodiment on the both sides, front end of main body 1, described boundary detection sensor can be arranged at the left and right sides of main body 1 or the rear end (as shown in Figure 3) of main body 1 equally, the quantity of described boundary detection sensor 5 can be that any one is above multiple.
Please refer again to shown in Fig. 5, concrete, be provided with Gravity accelerometer or gyroscope as direction sensor 3 using main body 1 below, main body 1 front end the right and left is respectively equipped with boundary detection sensor 5 for example and explains.When self-movement robot adopts " bow " font as shown in Figure 8 vertically to walk, direction sensor 3 is reference direction all the time with gravity direction, the walking process that control is walked after repeating to walk straight up and encountering frame turning more straight down.When direction sensor 3 normally works, robot accurately can identify vertical direction; But along with walking on of robot, error appears in direction sensor 3, then vertical direction can be departed from the direction of robot ambulation, and robot itself still thinks and vertically walks, and causes larger walking result error, reduces the cleaning efficiency etc. of robot.And when frame walked up or down by robot, judge whether direction sensor 3 is in correct duty by the pose of the real-time measuring robots of the boundary detection sensor 5 of its front end.As worked as robot according to the instruction of direction sensor 3, when upwards frame is encountered in walking, the boundary detection sensor 5 on left and right both sides, robot front end senses signal simultaneously, then judge that direction sensor 3 is in correct duty; If only the boundary detection sensor 5 on the left side, main body 1 front end or the boundary detection sensor 5 on the right sense signal, then judge that fuselage tilts, robot departs from vertical direction, and direction sensor 3 is in the duty of mistake, need correct it.Certainly, during according to sonac or infrared sensor, if when robot ambulation is to frame, the boundary detection sensor 5 on left and right limit can not receive signal simultaneously or receive the power difference of signal, then robot judges that fuselage tilts, direction sensor 3 is in the duty of mistake, need correct it.
In above-mentioned enforcement, glass frame itself is horizontally disposed.If glass frame tilts, then when robot walks up or down, only according to whether receiving the sensing signal of a boundary detection sensor 5 or receiving the sensing signal of two different boundary detection sensor 5, robot cannot judge whether fuselage departs from vertically, and then cannot judge whether direction sensor 3 exists error, is in correct or wrong duty.Now, need first self-movement robot to be placed near frame, adjust main body 1 according to boundary detection sensor 5 to sense signal simultaneously to relative to the left side, pose A(main body 1 front end of frame, the right or sense the signal of same intensity), record the angle value of now direction sensor 3
(as frame and horizontal direction be 45 degree time,
be 45 degree, namely fuselage departs from vertical direction 45 degree).
When Robot vertical direction carries out the walking of bow font mode, if robot upwards walks according to the instruction of direction sensor encounter frame, machine need be again adjusted to the pose A relative to frame according to boundary detection sensor 5, (namely adjust the position of fuselage, make the left side, body front end, the right senses signal simultaneously or sense the signal of same intensity), the more now angle value of direction sensor 3
whether with
equal, if
be not equal to
then make correction for direction sensor 3 angle value extremely
after, return S2, otherwise directly return S2.Preferably, every one section of default time t, described direction sensor is corrected once.
When above-mentioned embodiment respectively establishes a boundary detection sensor to judge robot ambulation to frame by both sides, main body 1 front end, whether fuselage tilts, and can only use a boundary detection sensor to reach 5 to same object equally.Explain to arrange a boundary detection sensor 5 in the middle of the front end of robot below.If boundary detection sensor 5 is touch sensor, as travel switch, robot ambulation is to (as stopped the situation that cannot walk on by frame) during frame, if control unit sensing is less than travel switch collision alarm, then judge that fuselage tilts, need correct direction sensor; If control unit can sense travel switch collision alarm, then judge that direction sensor is in correct duty.If boundary detection sensor 5 is noncontacting proximity sensor, as infrared sensor, described infrared sensor comprises a transmitter and a receiver, when robot ambulation is to frame, if receiver does not receive infrared signal or receives signal strength signal intensity be less than preset value, then judge that fuselage tilts, need correct direction sensor; If receiver receives infrared signal, then judge that direction sensor is in correct duty.
When Robot is perpendicular to " bow " font mode of frame or the walking of reciprocating linear pattern, control unit 2 runs to border at working surface to the direction of frame according to the feedback signal main control system body 1 of direction sensor 3, when the boundary detection sensor 5 being arranged at main body 1 front end face or rear end face detects that main body 1 pose tilts, the error of the sensor that makes correction for direction.
As depart from when Robot frame certain angle carry out " bow " font mode or the walking of reciprocating linear pattern time, see Fig. 4, a kind of antidote step of the following self-movement robot with apparatus for correcting can be adopted,
Specifically comprise the steps:
S1: self-movement robot is placed near frame, adjusts main body 1 to the pose A relative to frame according to boundary detection sensor 5, records the angle value of now direction sensor
S2: self-movement robot, according to the walking mode walking preset, indicates the direction of travel of main body 1 by direction sensor 3, described default walking mode is " bow " zig-zag path perpendicular to frame or reciprocating linear route;
S3: time near robot ambulation to frame, adjusts machine to the pose A relative to frame according to boundary detection sensor 5, the more now angle value of direction sensor 3
whether with
equal, if
be not equal to
then make correction for direction sensor 3 angle value extremely
after, return S2, otherwise directly return S2.
It should be noted that, the position orientation relation of shown main body and frame needs to determine according to boundary detection sensor set-up mode.In the present embodiment, a boundary detection sensor 5 is respectively established on both sides, described main body 1 front end, then described pose A is that main body 1 front end is parallel with frame, certainly, if boundary detection sensor 5 is arranged at both sides, main body 1 rear end, described pose A is main body 1 rear end parallel with frame (as shown in Figure 6).It is pointed out that when Robot can adopt this antidote equally perpendicular to when " bow " font mode of frame or the walking of reciprocating linear pattern.
To sum up, the present invention is simple with the self-movement robot structure of apparatus for correcting, boundary detection sensor is used for clean robot can auxiliary square to working sensor, verify the accuracy of its testing result, robot can be moved with less error all the time.
Claims (13)
1. the self-movement robot with apparatus for correcting, comprise: main body (1), described main body (1) is provided with control unit (2), direction sensor (3) and walking unit (4), described control unit (2) is walked according to default walking mode with the self-movement robot of apparatus for correcting described in controlling, described direction sensor is used to indicate the direction of travel of robot, it is characterized in that, described main body (1) is also provided with boundary detection sensor (5), described boundary detection sensor (5) is connected with described control unit (2), according to the induced signal of boundary detection sensor (5), control unit (2) judges whether direction sensor is in correct duty, if direction sensor is in the duty of mistake, it is corrected.
2., as claimed in claim 1 with the self-movement robot of apparatus for correcting, it is characterized in that, described boundary detection sensor (5) is at least two.
3., as claimed in claim 2 with the self-movement robot of apparatus for correcting, it is characterized in that, end face both sides of described main body (1) are respectively equipped with at least one boundary detection sensor (5).
4., as claimed in claim 3 with the self-movement robot of apparatus for correcting, it is characterized in that, described end face is front end face or the rear end face of main body.
5., as claimed in claim 1 with the self-movement robot of apparatus for correcting, it is characterized in that, described boundary detection sensor (5) is touch sensor or noncontacting proximity sensor.
6., as claimed in claim 1 with the self-movement robot of apparatus for correcting, it is characterized in that, described direction sensor (3) is acceleration transducer, gyroscope or code-disc.
7. there is an antidote for the self-movement robot with apparatus for correcting as described in any one of claim 1-6, it is characterized in that, comprise the steps:
S1: self-movement robot start is placed near frame, according to boundary detection sensor (5) adjustment main body (1) to the pose A relative to frame, records the angle value of now direction sensor
S2: self-movement robot, according to the walking mode walking preset, indicates the direction of travel of main body (1) by direction sensor (3);
S3: time near robot ambulation to frame, according to boundary detection sensor (5) adjustment machine to the pose A relative to frame, the more now angle value of direction sensor (3)
whether with
equal, if
be not equal to
then make correction for direction sensor (3) angle value extremely
after, return S2, otherwise directly return S2.
8. the antidote of the self-movement robot with apparatus for correcting according to claim 7, is characterized in that: described frame is horizontal frame or vertical frame.
9., as claimed in claim 7 with the antidote of the self-movement robot of apparatus for correcting, it is characterized in that, if boundary detection sensor (5) is arranged at main body (1) front end face both sides, described pose A is that main body (1) front end is parallel with frame.
10., as claimed in claim 7 with the antidote of the self-movement robot of apparatus for correcting, it is characterized in that, if boundary detection sensor (5) is arranged at main body (1) rear end face both sides, described pose A is that main body (1) rear end is parallel with frame.
The antidote of 11. self-movement robots with apparatus for correcting as described in claim 9 or 10, it is characterized in that, boundary detection sensor (5) adjustment main body to pose A be boundary detection sensor (5) by being arranged at main body (1) front end face both sides or rear end face both sides sense different sideband signals or only apparatus for correcting sideband signal detected.
The antidote of 12. self-movement robots with apparatus for correcting as described in claim 9 or 10, is characterized in that, in S2, described default walking mode is " bow " zig-zag path perpendicular to frame or reciprocating linear route.
13. 1 kinds of antidotes with the self-movement robot with apparatus for correcting as described in any one of claim 1-6, it is characterized in that: described default walking mode is " bow " zig-zag path perpendicular to frame or reciprocating linear route, when control unit (2) runs to border at working surface to the direction of frame according to the feedback signal main control system body (1) of direction sensor (3), when the boundary detection sensor (5) being arranged at main body (1) front end face or rear end face detects that main body (1) pose tilts, the error of the sensor that makes correction for direction.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310591136.XA CN104644061B (en) | 2013-11-20 | 2013-11-20 | Self-movement robot and its antidote with apparatus for correcting |
| PCT/CN2014/091380 WO2015074532A1 (en) | 2013-11-20 | 2014-11-18 | Self-moving robot with correction apparatus, and correction method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310591136.XA CN104644061B (en) | 2013-11-20 | 2013-11-20 | Self-movement robot and its antidote with apparatus for correcting |
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| Publication Number | Publication Date |
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| CN104644061A true CN104644061A (en) | 2015-05-27 |
| CN104644061B CN104644061B (en) | 2017-09-19 |
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| WO (1) | WO2015074532A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239528A (en) * | 2016-08-30 | 2016-12-21 | 宁波菜鸟智能科技有限公司 | The path cleaning method of sweeping robot, Apparatus and system |
| CN106325276A (en) * | 2016-09-21 | 2017-01-11 | 苏州瑞得恩自动化设备科技有限公司 | Judgment method and control method for straight running of robot on slope plane |
| CN106970623A (en) * | 2017-04-18 | 2017-07-21 | 杭州匠龙机器人科技有限公司 | Intelligent cleaning device and its trellis paths operational method |
| CN108646733A (en) * | 2018-04-27 | 2018-10-12 | 杭州艾豆智能科技有限公司 | A kind of mobile robot and its antidote of automatic straightening |
| CN109491397A (en) * | 2019-01-14 | 2019-03-19 | 深圳市傲基电子商务股份有限公司 | Grass-removing robot and its mowing regional assignment method |
| CN110162061A (en) * | 2019-06-06 | 2019-08-23 | 深圳怪虫机器人有限公司 | A kind of method of photovoltaic clean robot straight line cleaning path |
| CN115486765A (en) * | 2022-09-26 | 2022-12-20 | 茅台学院 | Self-moving robot and correction method thereof |
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| CN106909140B (en) * | 2015-12-22 | 2021-02-09 | 苏州宝时得电动工具有限公司 | Route regression method and system |
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| CN106970623A (en) * | 2017-04-18 | 2017-07-21 | 杭州匠龙机器人科技有限公司 | Intelligent cleaning device and its trellis paths operational method |
| CN106970623B (en) * | 2017-04-18 | 2021-05-25 | 杭州匠龙机器人科技有限公司 | Intelligent cleaning device and grid path operation method thereof |
| CN108646733A (en) * | 2018-04-27 | 2018-10-12 | 杭州艾豆智能科技有限公司 | A kind of mobile robot and its antidote of automatic straightening |
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| CN110162061B (en) * | 2019-06-06 | 2022-06-24 | 深圳怪虫机器人有限公司 | Method for cleaning path linearly by photovoltaic cleaning robot |
| CN115486765A (en) * | 2022-09-26 | 2022-12-20 | 茅台学院 | Self-moving robot and correction method thereof |
| CN115486765B (en) * | 2022-09-26 | 2023-06-27 | 茅台学院 | Self-moving robot and correction method thereof |
Also Published As
| Publication number | Publication date |
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| WO2015074532A1 (en) | 2015-05-28 |
| CN104644061B (en) | 2017-09-19 |
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