CN104757910B - Intelligent robot for sweeping floor and its control method - Google Patents
Intelligent robot for sweeping floor and its control method Download PDFInfo
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- CN104757910B CN104757910B CN201410698366.0A CN201410698366A CN104757910B CN 104757910 B CN104757910 B CN 104757910B CN 201410698366 A CN201410698366 A CN 201410698366A CN 104757910 B CN104757910 B CN 104757910B
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Abstract
The invention discloses a kind of control method of Intelligent robot for sweeping floor, including：Setting can be opened and shutoff operation, the proximity transducer for detecting obstacles thing；Detect and meet pre-conditioned, then close the proximity transducer；After the robot closes the proximity transducer, with along barrier pattern further until no longer meeting described pre-conditioned.In a kind of embodiment, meet pre-conditioned, close all of proximity transducer, then crash sensor being moved by way of being moved along barrier.The invention also discloses a kind of Intelligent robot for sweeping floor.Using the present invention, Intelligent robot for sweeping floor can be judged after small range working region is entered, and then be left after completing to clean with preferably motor pattern, it is to avoid robot is into the problem that be difficult to leave or even cannot leave after small range in the prior art.
Description
Technical field
The present invention relates to robot control field, more particularly to a kind of Intelligent robot for sweeping floor and its control method.
Background technology
In order to be more effectively carried out cleaning works, existing Intelligent robot for sweeping floor is usually provided with multiple sensors.Such as
The crash sensor of collision alarm can be produced when colliding barrier, recognizable barrier close to sensing during near barrier
Device, can detect ground detection sensor of the step to prevent robot from falling, and detectable rubbish compared with multizone to rubbish so as to enter
Rubbish detection sensor that row emphasis is cleaned etc..
As it was previously stated, setting multiple sensors in Intelligent robot for sweeping floor is for making Intelligent robot for sweeping floor preferably
Cleaning works is performed, therefore, the sensor of setting is all to follow the unlatching of Intelligent robot for sweeping floor and open, and follows intelligent floor-sweeping
The closing of robot and close, be not separately provided the unlatching and closing of sensor.Therefore, existing Intelligent robot for sweeping floor enters
During small range region, its proximity transducer detects after barrier is turned to and is easy to be visited again further through other proximity transducer
The barrier in other directions is measured, so as to cause robot ceaselessly to be turned to back and forth in the small range region, the region is trapped in
Needing the trial of long period can just leave, or even cannot leave.
The content of the invention
The technical problems to be solved by the invention are, there is provided the control method and intelligence of a kind of Intelligent robot for sweeping floor are swept
Floor-washing robot, can close proximity transducer after robot enters small range region, and the small range is left with along barrier pattern
Region, improves the degree of intelligence of robot, it is to avoid is trapped in small range region or needs the problem that the long period can just leave.
In order to solve the above-mentioned technical problem, on the one hand, The embodiment provides a kind of Intelligent robot for sweeping floor
Control method, including：Setting can be opened and shutoff operation, the proximity transducer for detecting obstacles thing；Detect satisfaction
It is pre-conditioned, then close the proximity transducer；After the robot closes the proximity transducer, transported with along barrier pattern
Move until no longer meeting described pre-conditioned.
In a kind of embodiment, the proximity transducer of the closing machine people include closing machine people all close to sensing
Device；It is described to include collision detection to being turn-taked against barrier original place after barrier along barrier pattern, until can't detect the barrier
To hinder after thing and turned to a pre-set radius and the default center of circle until detect barrier again, repeat the above steps until robot with
The angle that pre-set radius and the center of circle turn to still is not detected by barrier more than preset value.
It is preferred that the robot no longer detects the direction and its original turned to pre-set radius and the center of circle after the barrier
Turn-take it is in opposite direction.
In another embodiment, described detecting meets pre-conditioned, then closing the proximity transducer includes detecting
Meet pre-conditioned, when robot detects barrier, then the proximity transducer away from the barrier is closed, then by leaning on
The effect of the nearly barrier proximity transducer is moved along the barrier.
Specifically, it is described it is pre-conditioned including the robot collided in preset time period barrier and/or because visit
The number of times for measuring barrier and turning to exceedes preset value.
Specifically, pre-conditioned being included in default collides barrier or because detecting in the number of times that barrier is turned to
Robot twice collision obstacle and/or because detect barrier turn between average distance be less than preset value.
On the other hand, The embodiment provides a kind of Intelligent robot for sweeping floor, including：Open and close behaviour can be carried out
Work, the proximity transducer for detecting obstacles thing, collide barrier and can produce the crash sensor of collision alarm, controller；
The controller sets one pre-conditioned, when the condition is fulfilled, then closes the proximity transducer, and control robot with
It is pre-conditioned up to no longer meeting this along barrier pattern further.
In a kind of embodiment, the controller detect it is described it is pre-conditioned be satisfied close it is described whole close to sensing
After device, robot is controlled to abut the barrier pirouette for colliding if the collision alarm that the crash sensor is produced is detected
Circle, until being turned to until detecting barrier again with a pre-set radius and the default center of circle after can't detect barrier；The control
Device control robot processed repeats above-mentioned steps until the robot is surpassed with the angle that pre-set radius and the default center of circle turn to
Cross preset value and be still not detected by barrier.
It is preferred that the controller controls what robot was turned to pre-set radius and the center of circle after it can't detect the barrier
Direction is in opposite direction with what its original place was turn-taked.
In another embodiment, the controller detect it is described pre-conditioned when being satisfied, if detecting obstacle again
Thing, then close the proximity transducer away from the barrier in the robot, by the work near the barrier proximity transducer
Moved with along the barrier.
Specifically, it is described it is pre-conditioned including the robot collided in preset time period barrier and/or because visit
The number of times for measuring barrier and turning to exceedes preset value.
Specifically, pre-conditioned being included in default collides barrier and/or because detecting the secondary of barrier steering
Number inner machine people twice collision obstacle and/or because detect barrier turn between average distance less than preset value.
The embodiment of the present invention has the following advantages that or beneficial effect：
The embodiment of the present invention is by judging whether robot enters small range working region, if then closing part or all of
Proximity transducer, then moves from the small range working region in the way of along barrier.Can be made using the embodiment of the present invention
Robot fast and effeciently leaves after completing cleaning works into small range working region, it is to avoid because of the interference nothing of proximity transducer
Method is left, and improves the intelligence degree of robot.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the flow chart of sweeping robot motor pattern in an embodiment of the present invention；
Fig. 2 be in an embodiment of the present invention sweeping robot along barrier motion mode flow chart；
Fig. 3 is the motion path schematic diagram that sweeping robot leaves small range region in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Below with reference to the accompanying drawings embodiments of the invention are described.It is Intelligent robot for sweeping floor in the present invention referring to Fig. 1
A kind of schematic flow sheet of embodiment of control method.The method is comprised the following steps：
S101：Start；
S102：Sweeping robot is cleaned in a conventional mode, such as automatic cleaning pattern, local cleaning modes；
S103：Judge whether to meet pre-conditioned, in this way, then step S104 is performed, if not, returning back to step S102；
S104：Close proximity transducer；
S105：With along barrier pattern further until no longer meet pre-conditioned.
In embodiments of the present invention, pre-conditioned Ji Zhi robots enter small range working region.No longer meet default
Condition refers to robot and have left small range working region.
In a kind of implementation method, the pre-conditioned number of times for colliding barrier in preset time period including robot and/
Or the number of times turned to because detecting barrier has exceeded preset value.For example, being set in advance in 1 minute, robot is collided
The number of times that barrier turned to or detected barrier steering is no more than 3 times.After robot enters small range working region, by
It is near in the distance apart from barrier, collided in 1 minute the number of times of barrier have it is larger can exceed that 3 times, therefore, it can use
Robot collision obstacle and/or the number of times turned to because detecting barrier in preset time period are represented more than preset value
Robot comes into small range working region, such as has the lower section of the chair of 3 faces support.
In another embodiment, pre-conditioned being additionally included in default collides barrier or because detecting barrier steering
Number of times inner machine people twice collision obstacle and/or because detect barrier turn between average distance be less than preset value.
After robot enters small range working region, due near apart from obstacle distance, robot collision obstacle or because visiting twice
The average distance measured between barrier steering is inevitable smaller, therefore can collide barrier or because visiting default with robot
Barrier is collided in the number of times for measuring barrier steering twice or because detecting the average distance of barrier steering less than default
Value come represent robot enter small range working region.
In the present embodiment, then closed for detecting obstacles thing close to biography into small range region when detecting robot
Sensor, it is in order to avoid then robot ceaselessly detects barrier back and forth when zonule works to close proximity transducer
Turn to.Robot leaves the small range region after closing proximity transducer with along barrier pattern further.
It should be noted that proximity transducer signified in the present invention refers both to the proximity transducer for detecting obstacles thing,
For simplicity referred to as proximity transducer.
In addition, close proximity transducer in the present embodiment to include closing whole proximity transducers and the nearly sensing of close portion tap
Device.Intelligent robot for sweeping floor generally comprises multiple proximity transducers, is knocked before being evenly distributed on it.Close portion point proximity transducer
Refer to that robot probe to barrier is then closed from the barrier when robot judges to meet pre-conditioned i.e. entrance small range region
Hinder thing proximity transducer farther out, it is to avoid made again when other barriers are detected from barrier proximity transducer farther out and turned
To action.
Robot collides barrier or its proximity transducer detects barrier i.e. divertical motion in the embodiment of the present invention,
After robot judges to meet pre-conditioned, into small range mode of operation, if colliding barrier or its close sensing again
Device detects barrier and then closes all or part of proximity transducer, is passed by crash sensor or the part being not turned off are close
Sensor along this collide or the barrier that detects move.Using the small range mode of operation in the present embodiment, machine can be made
Device people leaves the region along small range working region border quickly, it is to avoid robot because being interfered between proximity transducer and
The problem that cannot be left.
Fig. 2 is refer to, wherein showing the stream of robot motion after the whole proximity transducers of closing when meeting pre-conditioned
Cheng Tu.Comprise the following steps：
S201：Meet pre-conditioned, then the whole proximity transducer of closing machine people；
S202：Robot collides barrier, produces collision alarm, and transported in the way of original place is turn-taked against the barrier
It is dynamic；
S203：Robot in close proximity to barrier original place turn-take during constantly judge whether to detect barrier, such as
It is then to proceed step S202, if not, carrying out step S204；
S204：When robot no longer detects barrier, turned to a pre-set radius and the center of circle；
S205：Judge whether robot turns to exceeded default steering angle, in this way, then jump to step S207, such as
It is no, then carry out step S206；
S206：Judge whether robot detects barrier, in this way, then jump to step S202, if not, continuing step
S204 is turned to；
S207：Terminate the mode of operation.
It should be noted that due to closing all of proximity transducer of robot in the present embodiment, in step S203
Middle robot detects that barrier, i.e. robot encounter barrier and just mean to detect barrier by its crash sensor
Hinder thing.And generally robot only knocks the distribution several crash sensors of setting preceding, when no longer logical between robot and barrier
Cross before it when hitting contact, that is, mean that robot is not detected by barrier.
In step S204, when robot is turned to pre-set radius and the center of circle, radius preferably makes with the selection in the center of circle
Robot can more quickly detect barrier detected when its original place is turn-taked when turning to, rather than other obstacles of surrounding
Thing.
In a kind of preferably implementation method, direction and robot pirouette that robot is turned to pre-set radius and the center of circle
That encloses is in opposite direction.Set that the direction that is turned to pre-set radius and the center of circle and robot original place turn-take be in the opposite direction in order that
Robot can again find its original place and turn-take abutted barrier quickly, rather than other barriers of surrounding.
Judge whether robot exceedes preset value with the angle that pre-set radius and the center of circle turn in step S205, be in order to
Prevent robot from still finding barrier after leaving small range region, be unfavorable for improving the cleaning efficiency of robot.
In the present embodiment, meet pre-conditioned rear robot and close all of proximity transducer, after colliding barrier
Then turn-taked against the barrier original place, no longer detect barrier and then turned with the opposite direction that original place is turn-taked with pre-set radius and the center of circle
Exceed preset value to the angle turned to up to finding the barrier or robot again, robot repeats the above steps, so that from
Open small range region, it is to avoid robot is into the problem that cannot be left behind small range region in the prior art.
Fig. 3 is refer to, wherein showing robot into the track schematic diagram of motion path behind small range region.Robot
After 31 enter small range region 32, whole proximity transducers are closed.Detected by the crash sensor being arranged in robot 31
To after the border 321 in small range region 32, turn-taked with the original place of route 311 shown in scheming first, when no longer detecting small range
Behind the border 321 in region 32, robot is turned to the default center of circle and radius along the route 312 shown in figure, until detecting again
To the border 321 in small range region.Robot 31 repeats the above steps, until leaving small range region 32.
The embodiment of the present invention has the following advantages that or beneficial effect：
The present invention first determines whether whether robot enters small range working region, if then starting small range mode of operation.
In embodiment one after judging that robot enters small range working region, detect barrier and then close away from the barrier
Hinder the proximity transducer of thing one end, robot is moved by the proximity transducer being unlocked along barrier, so as to leave small range
Working region.
In embodiment two after judging that robot enters small range working region, all of proximity transducer is closed.Machine
When people collides barrier, turn-taked against the barrier original place first, when the barrier is no longer detected, robot is with default
The directional steering that the center of circle and radius are turn-taked along original place, until finding barrier again, repeats the above steps, so as to leave small range
Working region.
The embodiment of the present invention is by judging whether robot enters small range working region, if then closing part or all of
Proximity transducer, then moves from the small range working region in the way of along barrier.Can be made using the embodiment of the present invention
Robot fast and effeciently leaves after completing cleaning works into small range working region, it is to avoid because of the interference nothing of proximity transducer
Method is left, and improves the intelligence degree of robot.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, the part shown as unit can be or may not be physics list
Unit, you can with positioned at a place, or can also be distributed on multiple NEs.It can according to the actual needs be selected
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each implementation method can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to by hardware.Based on such understanding, on
Stating the part that technical scheme substantially contributes to prior art in other words can be embodied in the form of software product, should
Computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some fingers
Order is used to so that a computer equipment (can be personal computer, server, or network equipment etc.) performs each implementation
Method described in some parts of example or embodiment.
Embodiments described above, does not constitute the restriction to the technical scheme protection domain.It is any in above-mentioned implementation
Modification, equivalent and improvement made within the spirit and principle of mode etc., should be included in the protection model of the technical scheme
Within enclosing.
Claims (8)
1. a kind of control method of Intelligent robot for sweeping floor, including：Setting can be opened and shutoff operation, for detecting obstacles
The proximity transducer of thing；Detect and meet pre-conditioned, then close the proximity transducer；The robot closes described close
After sensor, with along barrier pattern further until no longer meet described pre-conditioned；
It is described it is pre-conditioned including：
The number of times for the number of times of barrier being collided in preset time period or being turned to because detecting barrier exceedes preset value, or
Barrier is collided twice in the default number of times inner machine people for colliding in the number of times of barrier or being turned to because detecting barrier
Hinder thing or be less than preset value because detecting the average distance between barrier steering.
2. control method as claimed in claim 1, it is characterised in that the proximity transducer of the closing machine people includes closing
Whole proximity transducers of robot；It is described to include collision detection to abutting barrier pirouette after barrier along barrier pattern
Circle, until being turned to up to detecting barrier again with a pre-set radius and the default center of circle after can't detect the barrier, repeats
Above-mentioned steps are until robot is still not detected by barrier with the angle that pre-set radius and the center of circle turn to more than preset value.
3. method as claimed in claim 2, it is characterised in that the robot is no longer detected after the barrier with default half
The direction that footpath and the center of circle turn to is in opposite direction with what its original place was turn-taked.
4. control method as claimed in claim 1, it is characterised in that described detecting meets pre-conditioned, then close described
Proximity transducer includes：
Detect meet it is pre-conditioned after, if robot detects barrier, close the proximity transducer away from the barrier,
Then moved along the barrier by the effect of the proximity transducer near the barrier.
5. a kind of Intelligent robot for sweeping floor, including：Can carry out open and close operation, the proximity transducer for detecting obstacles thing,
Colliding barrier can produce the crash sensor of collision alarm, controller；The controller setting one is pre-conditioned, when this is pre-
If condition is satisfied, then close the proximity transducer, and control robot with along barrier pattern further until no longer full
This is pre-conditioned enough；
It is described it is pre-conditioned including：
The number of times for the number of times of barrier being collided in preset time period or being turned to because detecting barrier exceedes preset value, or
The number of times inner machine people two turned in the number of times of barrier or because detecting barrier is collided in preset time period
Secondary collision obstacle is less than preset value because detecting the average distance between barrier steering.
6. Intelligent robot for sweeping floor as claimed in claim 5, it is characterised in that the controller detects described pre-conditioned
After being satisfied closing whole proximity transducer, the control machine if the collision alarm that the crash sensor is produced is detected
Device people abuts the barrier original place for colliding and turn-takes, until being turned to a pre-set radius and the default center of circle after can't detect barrier
Until detecting barrier again；The controller control robot repeats above-mentioned steps until the robot is with default
The angle that radius and the default center of circle turn to still is not detected by barrier more than preset value.
7. Intelligent robot for sweeping floor as claimed in claim 6, it is characterised in that the controller can't detect the barrier
Control robot is in opposite direction with what its original place was turn-taked with the direction of pre-set radius and center of circle steering afterwards.
8. Intelligent robot for sweeping floor as claimed in claim 5, it is characterised in that the controller detects described pre-conditioned
When being satisfied, if detecting barrier again, the proximity transducer away from the barrier in the robot is closed, by leaning on
The effect of the proximity transducer of the nearly barrier is moved along the barrier.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410698366.0A CN104757910B (en) | 2014-11-26 | 2014-11-26 | Intelligent robot for sweeping floor and its control method |
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| CN201410698366.0A CN104757910B (en) | 2014-11-26 | 2014-11-26 | Intelligent robot for sweeping floor and its control method |
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| CN104757910B true CN104757910B (en) | 2017-06-13 |
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| CN107957504B (en) * | 2016-10-18 | 2020-09-22 | 苏州宝时得电动工具有限公司 | Collision direction detection method and device |
| CN107997691A (en) * | 2017-12-05 | 2018-05-08 | 北京奇虎科技有限公司 | Stall processing method, device and clean robot |
| CN108553041B (en) * | 2018-03-19 | 2021-03-23 | 珠海市一微半导体有限公司 | Method for judging trapped robot |
| CN108606728B (en) * | 2018-05-08 | 2020-12-25 | 平安科技（深圳）有限公司 | Sweeping robot control method and equipment, sweeping robot and storage medium |
| CN111436861B (en) * | 2018-12-27 | 2023-02-17 | 北京奇虎科技有限公司 | Block edge closing processing method, electronic equipment and readable storage medium |
| CN111714031B (en) * | 2019-03-20 | 2023-10-03 | 北京奇虎科技有限公司 | Sweeping method and device for sweeping equipment and electronic equipment |
| CN112230644B (en) * | 2019-07-15 | 2023-10-10 | 苏州宝时得电动工具有限公司 | Autonomous robot, and edge control method, device and storage medium thereof |
| CN110448241B (en) * | 2019-07-18 | 2021-05-18 | 华南师范大学 | Robot trapped detection and escaping method |
| CN112773261B (en) * | 2019-11-04 | 2022-06-21 | 美智纵横科技有限责任公司 | Method and device for avoiding obstacles and sweeping robot |
| CN111638719A (en) * | 2020-06-11 | 2020-09-08 | 绍兴肇观电子科技有限公司 | Robot and its moving method, equipment, circuit and medium |
| CN113616115B (en) * | 2021-07-14 | 2022-07-12 | 湖南格兰博智能科技有限责任公司 | Trap-escaping algorithm suitable for sweeper |
| CN116076949A (en) * | 2021-11-05 | 2023-05-09 | 追觅创新科技(苏州)有限公司 | Control method of cleaning device and cleaning device |
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Inventor after: Xiao Shuangliang Inventor after: Wu Wanshui Inventor after: Zhang Guodong Inventor before: Xiao Shuangliang Inventor before: Wu Wanshui |
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