CN107456162A - Robot for cleaning floor and the control method for robot for cleaning floor - Google Patents
Robot for cleaning floor and the control method for robot for cleaning floor Download PDFInfo
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- CN107456162A CN107456162A CN201710779845.9A CN201710779845A CN107456162A CN 107456162 A CN107456162 A CN 107456162A CN 201710779845 A CN201710779845 A CN 201710779845A CN 107456162 A CN107456162 A CN 107456162A
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- robot
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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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
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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)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
A kind of control method the present invention relates to robot for cleaning floor and for robot for cleaning floor, the robot for cleaning floor, including robot body, barrier sensing device further and control system, barrier sensing device further connect with signal with control system；Control system internal preset has the first cleaning mode, and the first cleaning mode includes multiple Move Modes, and wherein Move Mode comprises at least：The normal movement pattern that control machine human body moves between barrier；Avoidance pattern of the control machine human body away from barrier；Edge of the control machine human body along barrier persistently moves the short welt Move Mode of a distance, and the length of the distance is the random distance randomly selected from a range data set；Robot body when being worked according to the first cleaning mode, control system can control machine human body mutually switch between above-mentioned multiple patterns.The robot for cleaning floor of this case substantially increases the cleaning coverage rate to barrier edge.
Description
Technical field
The present invention relates to the robot for cleaning floor field for cleaning ground.
Background technology
Self-movement robot is a kind of full intelligent mobile device, and the device is in the case where being controlled by the user by quilt
Autonomous is operated on moving area, such as common floor suction robot.Because self-movement robot is autonomous
, therefore the barriers such as wall, seat can be run into unavoidably in moving process.Once robot collides with barrier
Afterwards, the moving direction of robot will change, and this change is difficult control, therefore, prior art from moving machine
Obstacle detector is provided with device people, when obstacle detector is detected in front of mobile in robot moving process
After there is barrier, robot will perform avoidance program to avoid self-movement robot from being collided with barrier.
A kind of robot cleaner and its control are disclosed in Publication No. CN101923351B Chinese invention patent
Method, the robot cleaner are able to carry out the welt love knot pattern walked along the edge of wall or barrier, the patch
Edge mode, which grows length, can spend the normal love knot of the more electricity of robot cleaner and influence area, and lead in long and deep friendship between two families habitat environment
Often there is more barrier, continue along the edge of barrier so that cleaning covering efficiency substantially reduces.
The content of the invention
In order to solve the above-mentioned technical problem, the high floor cleaning machine of coverage rate is cleaned it is an object of the invention to provide a kind of
People.It is a further object to provide it is a kind of can obtain high cleaning coverage rate, control robot for cleaning floor movement
Method.
In order to realize the first purpose of foregoing invention, the present invention uses following first technical scheme：A kind of floor-cleaning machine
Device people, including：
One robot body, can on ground to be cleaned autonomous；
One barrier sensing device further, for the barrier to occurring on front side of robot body in the robot body movement forward
Thing is hindered to be sensed；
One control system, described barrier sensing device further connect with signal with described control system, described robot sheet
Body can control described robot body movement based on the barrier sensing device further feedack；
Described control system internal preset has the first cleaning mode, and the first described cleaning mode includes multiple Move Modes,
Wherein described Move Mode comprises at least：
The normal movement pattern that the described robot body of one control moves between barrier；
Described avoidance pattern of the robot body away from barrier of one control；
Edge of the described robot body of one control along the barrier persistently moves the short welt Move Mode of a distance,
The length of the distance is the random distance randomly selected from a range data set；
When according to described the first cleaning mode work, described control system can control described described robot body
Robot body mutually switch between normal movement pattern, avoidance pattern and short welt Move Mode.
In above-mentioned technical proposal, it is preferred that described control system internal preset first condition and second condition, when described
Control system when meeting first condition, the described robot body of described control system control is from described normal movement mould
Formula is switched to described avoidance pattern；When described control system meets second condition, described in the control of described control system
Robot body from described normal movement pattern switching to described short welt Move Mode.
In above-mentioned technical proposal, it is preferred that described range data collection be combined into from a upper distance limit value to range line once from
The distance between value value element set, described upper distance limit value are more than described lower limit distance value.
In above-mentioned technical proposal, it is preferred that described upper distance limit value is less than or equal to 100cm, described lower limit distance value
More than or equal to 20cm.
In above-mentioned technical proposal, it is preferred that described control system internal preset has the second cleaning mode, and described second
Cleaning mode includes the described robot body of a control and independently finds the edge of barrier and after barrier edge is searched out
Continuously along the long welt Move Mode of barrier edge movement.
In above-mentioned technical proposal, it is preferred that described robot for cleaning floor also includes an input block, described input
Unit is for the described robot body of user's selection selecting unit in the way of the second described cleaning mode is operated.
In order to realize the first purpose of foregoing invention, the present invention uses following second technical scheme：A kind of floor-cleaning machine
Device people, including：
One robot body, can on ground to be cleaned autonomous；
One barrier sensing device further, for the barrier to occurring on front side of robot body in the robot body movement forward
Thing is hindered to be sensed；
One control system, described barrier sensing device further connect with signal with described control system, described robot sheet
Body can control described robot body movement based on the barrier sensing device further feedack；It is characterized in that：
The range data set that described control system internal preset one is made up of several distance value elements, described distance number
It is made up of according to set the first subset and yield in the second subset, the first described subset and yield in the second subset are without common factor, described yield in the second subset
0 value is not included；
Described control system performs an algorithm, makes once described barrier sensing device senses are to barrier, i.e., described
Range data set in randomly select a random distance value, and it is to belong to first subset to analyze described random distance value
Still fall within the yield in the second subset；When described random distance value belongs to first subset, described control system is to institute
The robot body stated, which is sent, performs the first operational order away from the barrier；When described random distance value belongs to described
During yield in the second subset, described control system sends described random along the edge walking of the barrier to described robot body
Second operational order of distance value.
In above-mentioned technical proposal, it is preferred that described range data collection be combined into from a upper distance limit value to range line once from
The distance between value value element set, described upper distance limit value are more than described lower limit distance value.
In above-mentioned technical proposal, it is preferred that described upper distance limit value is less than or equal to 100cm, described intermediate distance value
Less than or equal to 20cm.
In above-mentioned technical proposal, it is preferred that the first described subset is from described lower limit distance value to an intermediate distance
Numerical value set between value, described yield in the second subset are from described intermediate distance value to the number between described distance value up and down
Value set, and do not include intermediate distance value in described yield in the second subset；Wherein, described intermediate distance value be more than it is described under
Limit distance value and be less than described upper distance limit value
In above-mentioned technical proposal, it is preferred that described lower limit distance value is 0.
In above-mentioned technical proposal, it is preferred that described barrier sensing device further is arranged on the robot including several
The proximity transducer of body portion.
In above-mentioned technical proposal, it is preferred that described robot for cleaning floor also includes collision detecting device, and described touches
Hitting detection means includes being arranged on the Crashworthy plate that can be moved on the robot body and relative to the robot body, connects
It is connected to described Crashworthy plate and is configured in response to the movement of the Crashworthy plate and outwards exports the collision sensing of a signal
Device, described crash sensor are connected with described control system；Passed when described control system receives described collision
During the signal that sensor is sent, described control system sends the 3rd performed away from the avoidance thing to described robot body
Operational order.
In above-mentioned technical proposal, it is preferred that described robot body, which performs the operation away from the avoidance thing, to be included：Control
Make the robot body and retreat or turned over relative to former direction of advance the angle for being less than or equal to 180 degree more than 0 degree.
In order to realize the second purpose of foregoing invention, the present invention uses following 3rd technical scheme：It is clear that one kind is used for ground
The control method of clean robot, described control method include：
A range data set being made up of several distance value elements is determined in described robot for cleaning floor in advance, should
Range data set is made up of the first range data subset and second distance data subset, the first described range data subset and
Second distance data subset is without common factor；
The described robot for cleaning floor of control autonomous on face to be cleaned simultaneously performs floor cleaning work simultaneously；
Barrier on the described robot for cleaning floor travel path of sensing；
When sensing barrier, control described robot for cleaning floor randomly selected in the range data set one with
Machine distance value, and the random distance value described in post analysis is the element belonged in the first distance value subset still falls within
An element in the second distance value subset；Random distance value is belonged in the first distance value subset as mentioned
During one element, then control described robot for cleaning floor to perform the operation away from the avoidance thing, as mentioned at random away from
An element being belonged to from value in the second distance value subset, described robot for cleaning floor is then controlled along the obstacle
The edge of thing is persistently walked distance corresponding to the random distance value.
The present invention obtains following beneficial effect compared with prior art：The robot for cleaning floor of this case, running into obstacle
During thing, it can judge whether to walk along barrier edge at random, and the distance walked also has randomness, and it can change
Solidification pattern during former robot body movement, also substantially increases the cleaning coverage rate to barrier edge.
Brief description of the drawings
Fig. 1 is a kind of schematic perspective view of robot for cleaning floor provided in an embodiment of the present invention；
Fig. 2 is the elevational schematic view of Fig. 1 robot for cleaning floor；
Schematic diagram after upper lid is raised in the robot for cleaning floor that Fig. 3 is Fig. 1；
Fig. 4 is the schematic perspective view under another visual angle of Fig. 1 robot for cleaning floor；
Fig. 5 is that the robot for cleaning floor in Fig. 3 removes the schematic diagram after lid, collision detecting device；
Fig. 6 is the path schematic diagram that the robot for cleaning floor in Fig. 1 moves in an exemplary region；
Fig. 7 shows the exemplary moving process for the robot body for performing normal movement pattern；
Fig. 8 shows the exemplary moving process for the robot body for performing avoidance pattern；
Fig. 9 shows the exemplary moving process for the robot body for performing short welt Move Mode；
Figure 10 shows the exemplary moving process of the robot body of executive chairman's welt Move Mode；
Figure 11 shows the schematic diagram of the robot for cleaning floor comprising remote control.
Embodiment
To describe technology contents, construction feature, institute's reached purpose and effect of invention in detail, below in conjunction with embodiment simultaneously
Accompanying drawing is coordinated to be described in detail.
Fig. 1-3 shows the schematic diagram of robot for cleaning floor 100, and it includes a generally circular robot body
1, robot body 1 includes upper lid 101, chassis 102, battery module 103, drive system, main cleaning brush 105, the main cleaning of driving
Main brush motor 1051, opposite side brush a 106a and 106b, the right brush motor for driving an opposite side dataller to make respectively of brush 105
1061a and left side brush motor 1061b, dirt box 107 and controller 108.In use, controller 108 is to drive system, master
Brush motor 1051 and the right brush motor 1061a and left side brush motor 1061b provide instruction, so that robot for cleaning floor
100 in clean surface（For example, floor）Upper movement, so as to which debris is removed from cleaning surface.
Reference picture 1,2, robot body 1 include front portion 1011, rear portion 1012, and front portion 1011 and rear portion 1012 it
Between limit the front-rear center line 1015 that extends along the longitudinal direction.It is preceding when the robot body 1 is placed on the clean surface
CB 1015 is arranged essentially parallel to clean surface.Robot body 1 is divided into right part 1013 and a left side by front-rear center line 1015
Portion 1014.
Referring again to Fig. 2,3, side brush 106 may be mounted to extend past the lateral edges of lid 101, for removing chassis
Dirt and chip, are swept into by 102 lower sections and its immediate dirt and chip when robot body 1 cleans along forward direction
In the cleaning path of main cleaning brush 105.Drive system includes right driving wheel component 1041 and left driving wheel component 1042.It is each to drive
Drive wheel assemblies 1041,1042 include wheel 109a, 109b and are linked to wheel to drive motor 110a, 110b of wheel.Driving
Wheel assembly 1041,1042 is connected on chassis 102 and above clean surface.Controller 108（Also figure 5 illustrates）Position
Controlled in the inside of robot body, and by the robot of Behavior-based control, so as to based on following sensor readings referred to or
Instruction, instruction is provided to the parts of robot 100, as described below, navigated so as to carry out cut-through thing in an autonomous manner, be clear
Sweep the floor face.Controller 108 can provide instructions to drive wheel assemblies 1041 and 1042 forward or backward with manipulation machine to drive system
Device human body 1.For example, instruction can be sent by controller 108, to combine two wheel assemblies 1041,1042 in forward direction,
Robot body 1 is caused to travel forward.In another example, instruction can send and be used to turn left, and it promotes revolver component
1041 combine in a forward direction, and right wheel component 1042 is rearward driving up, and cause the robot when viewed from above
Body 1 turns along clockwise.In another example, similar instruction can be sent for turning right, and it causes viewed from above
When robot body 1 along counterclockwise turn.As being further described in detail below, controller 108 can will forward, backward, to the right and/
Or instruction to the left combines and issues drive system, to make robot sheet when robot body 1 is moved across clean surface
Body 1 bypasses the one or more barriers run into.The front lower place on chassis 102 also has is supported in cleaning table by robot body
Castor assembly 111 above face, the castor assembly 111 do not have power, belong to passive movement part.Chassis 102 can be protected
The interior section of robot body 1, and prevent the intrusion of dust and chip.The battery included in battery module can be machine
Human body provides power supply.
Reference picture 3, barrier sensing device further 2 is provided with robot body 1, barrier sensing device further 2 includes multicomponent
Cloth is arranged on the proximity transducer 21a-h at the outer peripheral sidewall of robot body 1, and these proximity transducers 21a-h is distributed in machine
At the outer peripheral sidewall of the first half of device human body 1.Connected with signal close to sensing 21a-h with controller 108, work as controller
108 receive any one proximity transducer 21a-h transmission signal when, then show obstacle occur around robot body 1
Thing.Therefore, collision can be to appearing in the front side of robot body 1 close to sensing 21a-h in the movement forward of robot body 1
Barrier（Barrier herein is such as metope, furniture the stop further movement of fixture of robot body, under herewith solve
Release）Sensed, for example, proximity transducer 21a-h may be adapted to perceive the side of robot body 1（Before such as）About 1cm is to about
50cm potential barrier.When proximity transducer 21a-h, which can perceive the annex of robot body 1, closely barrier occurs,
The controller of robot needs the method that the situation is handled for Robot Selection, following to be discussed in detail again.In some embodiments
In, each proximity transducer 21a-h includes infrared emission receiver pair, and the radius of investigation as infrared emission receiver is correspondingly answered is
1cm to about 50cm, in this radius, proximity transducer can sense when the presence of barrier.Due to being received using infrared emission
Device is conventional technical means to detection barrier, be will not be described here.In other embodiments, this proximity transducer, which can also be, sets
The sonar sensor on the first half of robot body 1 is put, to assess barrier to the distance of robot body 1.
Reference picture 4,5, robot body 1 go back collision detecting device 3, collision detection dress in the outer peripheral sidewall of first half
Put 3 include be arranged on the outside side wall in the right front of robot body 1 on and can relative to chassis 102 move right Crashworthy plate 31a,
It is connected to right Crashworthy plate 31a and is configured in response to right Crashworthy plate 31a movement and outwards exports the right collision of a signal
Sensor 32a, and can be relative to the left Crashworthy plate of the movement of chassis 102 in the outside side wall in the left front of robot body 1
31b, it is connected to left Crashworthy plate 31b and is configured in response to left Crashworthy plate 31b movement and outwards exports a left side for a signal
Crash sensor 32b, right crash sensor 32a and left crash sensor 32b are connected with controller 108；When controller 108
When receiving the signal of any one crash sensor transmission, then surface robot body 1 collides with extraneous obstacle.
Controller 108 and all electronic units on robot body, such as proximity transducer 21a-e, right crash sensor
32a, left crash sensor 32b, motor 110a and 110b, main brush motor 1051 and the right brush motor 1061a and left side brush
Motor 1061b is connected, and proximity transducer 21a-e, right crash sensor 32a, left crash sensor 32b crash sensors can
The signal received feeds back to controller 108, and controller 108 can be based on these signals to motor 110a and 110b, main brush
Motor 1051 and the right brush motor 1061a and left side brush motor 1061b are controlled.
Shown in reference picture 6, in this example, controller 108 can guided robot body 1 according to multiple cleaning modes through clear
Face cleaning 500 simultaneously realizes the cleaning to clean surface 500.These multiple cleaning modes include：One control machine human body is in barrier
Between the normal movement pattern that moves；Avoidance pattern of the one control machine human body away from barrier；The described machine of one control
Edge of the human body along the barrier persistently moves the short welt Move Mode of a distance, the length of the distance be from one away from
From the random distance randomly selected in data acquisition system；The described robot body of one control independently finds the edge of barrier simultaneously
Continuously along the long welt Move Mode of barrier edge movement after barrier edge is searched out.
Normal movement pattern can be used to move for reference picture 7, robot body 1, and under this pattern, robot body 1 exists
Moving process does not sense barrier, and robot body 1 is walked in the white space between barrier, and its track walked can
To be various, such as linear, shaped form, square waveform etc..
Avoidance pattern can be used to move for reference picture 8, robot body 1, such as：Come from when controller 108 receives
During the signal of proximity transducer or crash sensor, controller 108 can select avoidance pattern to be held as robot body 1
Capable Move Mode, under this pattern, robot body 1 retreats or around turning over certain angle counterclockwise or clockwise（Such as may be used
Think the angle for being less than or equal to 180 degree more than 0 degree）So that robot body 1 is directed away from the direction movement of barrier 501, i.e.,
Move away from barrier 501 and advanced along new direction.
Short welt Move Mode can be used to move for reference picture 9, robot body 1, such as：When controller 108 receives
During to signal from proximity transducer, controller 108 can select short welt Move Mode to be held as robot body 1
Capable Move Mode, under this pattern, robot body 1 is adjusting the appearance of robot body close to after barrier 502,503,504
State can persistently move a distance L along the edge of barrier 502,503,5041、L2、L3, these distances L1、L2、L3It is one
Random distance in a range data set, i.e. distance L1、L2、L3Can it is different, can also be identical, similar and different is general
Rate occurs at random.
Long welt Move Mode can be used to move for reference picture 10, robot body 1, such as：Robot body 1 is being cut
Change under the pattern, robot body 1 is independently found the edge of barrier 505 and held after the edge of barrier 505 is searched out
The continuous edge along barrier 505 moves the default maximum shifting in the controller 108 until edge of barrier 505 disappears or reached
Dynamic distance value, barrier 506 is then found again and is moved therefore along the edge of barrier 506, under long welt Move Mode
Single displacement length the length with barrier edge is different and different, can also be with default in controller 108
Maximum moving distance value it is different and different.
In order that obtaining robot body 1 is able to carry out short welt Move Mode and long welt Move Mode, robot body 1
On should also set and follow sensor（Not shown in figure）, this follows sensor to help robot body 1 in moving process,
All the time it is close to the edge movement of barrier.Such as it is respectively provided with the left and right side of robot body 1 and follows sensor, with sensing
Device may insure when robot body 1 follows the edge of barrier.In other embodiments, this welt sensor can be by portion
Divide proximity transducer part-time.In the case where robot body 1 performs short welt Move Mode or long welt Move Mode, side brush
104 will play a significant role.By using side brush 104 (it stretches out the circumference of upper lid 101) with capture in barrier edge crack
In and the chip along the edge beyond main cleaning brush 103 in one's power.
In this case, robot body 1 can be operated according to the first cleaning mode, can also be according to the second cleaning mode
It is operated；Under the first cleaning mode, robot body 1 moves mould in normal movement pattern, avoidance pattern and short welt
Mutual switch operating between formula；Under the second cleaning mode, robot body 1 is operated according to long welt pattern all the time.
Independently select to be operated also according to the second cleaning mode according to the first cleaning mode in order to facilitate user, such as scheme
Shown in 11, robot also includes one and is used for the remote control 4 that control machine human body 1 works, and an input is provided with the remote control 4
Unit 41, is provided with mode selecting unit on the input block 41, and it is by the one that user, which can independently select robot body 1,
What two cleaning modes or the second cleaning mode were operated.In this example, the first cleaning mode and the second cleaning mode will not be same
When appear in robot perform single clean up task during.
In order that obtaining robot under the first cleaning mode, robot body 1 can be independently in normal movement pattern, avoidance
Switch between pattern and short welt Move Mode, one is preset in control system 108 by several distance value elements L1、
L2、……LnRange data the set P, range data set P of composition are by the first subset P1With yield in the second subset P2Form, the first son
Collect P1With yield in the second subset P2Without common factor, yield in the second subset P20 value is not included；If range data set P is from upper distance limit value LmaxExtremely
Once limit distance value LminThe distance between value element set, upper distance limit value LmaxMore than described lower limit distance value Lmin, first
Subset P1For from lower limit distance value LminTo an intermediate distance value LmidBetween numerical value set, yield in the second subset P2For intermediate distance value
LmidTo a upper distance limit value LmaxBetween and do not include intermediate distance value LmidNumerical value set, intermediate distance value LmidUnder being more than
Limit distance value LminAnd it is less than upper distance limit value Lmax。
Controller 108 is based on above-mentioned default data acquisition system in this example, and it performs an algorithm, under the algorithm, makes once
Barrier sensing device further 2 senses barrier, and controller 108 randomly selects a random distance value in range data set P
Lran, and analyze random distance value LranIt is to belong to the first subset P1Still fall within yield in the second subset P2；As random distance value LranBelong to
First subset P1When, that is, when meeting first condition, controller 108 sends first performed away from barrier to robot body 1
Operational order；As random distance value LranBelong to yield in the second subset P2When, that is, when meeting second condition, controller 108 gives robot sheet
Body 1 sends the edge walking random distance value L along the barrierranThe second operational order.Touched when controller 108 receives
When hitting the signal that the crash sensor in detection means 3 is sent, controller 108 sends to robot body 1 and performed away from avoidance
3rd operational order of thing.
The running of robot is illustrated with a specific example below：
Range data set P be from 100cm to the distance between 0 be worth element set, extracted out of the range data set P away from
Can be the integer distance value of number or any one size with a distance from any one size from 0-100cm from value element；First
Subset P1For value element set, first subset P the distance between from 0 to 20cm1Interior distance value element be more than or equal to 0,
Less than or equal to 20cm；Yield in the second subset P2Not include between from 20cm to 100cm and 20cm distance value element set, this second
Subset P2Interior distance value element is more than 20cm, less than or equal to 100cm.Robot 100 works as barrier in moving process
There is barrier in the front of robot body 1 that sensing device further 2 senses, when, controller 108 i.e. in range data set P with
Machine extracts a random distance value Lran；Such as the random distance value L generated at randomranFor value less than or equal to 20cm when, robot sheet
Body 1 performs the action away from barrier, i.e., robot 100 is from normal movement pattern switching to avoidance pattern；As generated at random
Random distance value LranDuring for more than 20cm, robot body 1 adjusts posture and performs the action moved along barrier edge, i.e.,
Robot 100 is from normal movement pattern switching to short welt pattern, and under short welt pattern, robot body 1 will be along obstacle
The edge of thing persistently moves random distance value Lran。
It is described below, the process that robot 100 is operated according to the first cleaning mode：
Robot 100 is moved first in clean surface according to normal movement pattern, and in moving process, robot is held simultaneously
Row detection of obstacles works；When sensing barrier, control machine people 100 randomly selected in range data set P one with
Machine distance value Lran, and the random distance value L of post analysisranIt is to belong to the first distance value subset P1An interior element is still fallen within
The second distance value subset P2An interior element；Such as random distance value LranBelong to the first distance value subset P1Interior one
During element, then control machine people 100 performs the operation away from avoidance thing, such as random distance value LranBelong to the second distance
It is worth subset P2An interior element, then edge of the control machine people 100 along the barrier is persistently walked and states random distance value Lran
Corresponding distance.
Finally be necessary described herein be：Above example is served only for further detailed to technical scheme work
Ground explanation, it is impossible to be interpreted as limiting the scope of the invention, those skilled in the art is according to the above of the invention
Some the nonessential modifications and adaptations made belong to protection scope of the present invention.
Claims (15)
1. a kind of robot for cleaning floor, including：
One robot body, can on ground to be cleaned autonomous；
One barrier sensing device further, for the barrier to occurring on front side of robot body in the robot body movement forward
Thing is hindered to be sensed；
One control system, described barrier sensing device further connect with signal with described control system, described robot sheet
Body can control described robot body movement based on the barrier sensing device further feedack；It is characterized in that：
Described control system internal preset has the first cleaning mode, and the first described cleaning mode includes multiple Move Modes,
Wherein described Move Mode comprises at least：
The normal movement pattern that the described robot body of one control moves between barrier；
Described avoidance pattern of the robot body away from barrier of one control；
Edge of the described robot body of one control along the barrier persistently moves the short welt Move Mode of a distance,
The length of the distance is the random distance randomly selected from a range data set；
When according to described the first cleaning mode work, described control system can control described described robot body
Robot body mutually switch between normal movement pattern, avoidance pattern and short welt Move Mode.
2. robot for cleaning floor according to claim 1, it is characterised in that：Described control system internal preset
One condition and second condition, when described control system meets first condition, the described machine of described control system control
Human body is from described normal movement pattern switching to described avoidance pattern；When described control system meets second condition
When, the described robot body of described control system control moves from described normal movement pattern switching to described short welt
Dynamic model formula.
3. robot for cleaning floor according to claim 1, it is characterised in that：Described range data collection is combined into from one
Limit distance value and be more than described lower limit distance to the distance between distance value value element set, described upper distance limit value is once limited
Value.
4. robot for cleaning floor according to claim 3, it is characterised in that：Described upper distance limit value is less than or equal to
100cm, described lower limit distance value are more than or equal to 20cm.
5. robot for cleaning floor according to claim 1, it is characterised in that：Described control system internal preset has
Two cleaning modes, the second described cleaning mode include the described robot body of a control and independently find the edge of barrier simultaneously
Continuously along the long welt Move Mode of barrier edge movement after barrier edge is searched out.
6. robot for cleaning floor according to claim 5, it is characterised in that：Described robot for cleaning floor also includes
One input block, described input block are carried out for the described robot body of user's selection according to the second described cleaning mode
The mode selecting unit of work.
7. a kind of robot for cleaning floor, including：
One robot body, can on ground to be cleaned autonomous；
One barrier sensing device further, for the barrier to occurring on front side of robot body in the robot body movement forward
Thing is hindered to be sensed；
One control system, described barrier sensing device further connect with signal with described control system, described robot sheet
Body can control described robot body movement based on the barrier sensing device further feedack；It is characterized in that：
The range data set that described control system internal preset one is made up of several distance value elements, described distance number
It is made up of according to set the first subset and yield in the second subset, the first described subset and yield in the second subset are without common factor, described yield in the second subset
0 value is not included；
Described control system performs an algorithm, makes once described barrier sensing device senses are to barrier, i.e., described
Range data set in randomly select a random distance value, and it is to belong to first subset to analyze described random distance value
Still fall within the yield in the second subset；When described random distance value belongs to first subset, described control system is to institute
The robot body stated, which is sent, performs the first operational order away from the barrier；When described random distance value belongs to described
During yield in the second subset, described control system sends described random along the edge walking of the barrier to described robot body
Second operational order of distance value.
8. robot for cleaning floor according to claim 7, it is characterised in that：Described range data collection is combined into from one
Limit distance value and be more than described lower limit distance to the distance between distance value value element set, described upper distance limit value is once limited
Value.
9. robot for cleaning floor according to claim 8, it is characterised in that：Described upper distance limit value is less than or equal to
100cm, described intermediate distance value are less than or equal to 20cm.
10. robot for cleaning floor according to claim 7, it is characterised in that：The first described subset is from described
Lower limit distance value is to the numerical value set between an intermediate distance value, and described yield in the second subset is from described intermediate distance value to institute
Numerical value set between the distance value up and down stated, and do not include intermediate distance value in described yield in the second subset；Wherein, it is described
Intermediate distance value is more than described lower limit distance value and is less than described upper distance limit value.
11. the robot for cleaning floor according to claim 7 or 8, it is characterised in that：Described lower limit distance value is 0.
12. robot for cleaning floor according to claim 7, it is characterised in that：Described barrier sensing device further includes
Several are arranged on the anterior proximity transducer of the robot body.
13. robot for cleaning floor according to claim 7, it is characterised in that：Described robot for cleaning floor also wraps
Include collision detecting device, described collision detecting device includes being arranged on the robot body and can be relative to the machine
The Crashworthy plate of device human body movement, be connected to described Crashworthy plate and be configured in response to the movement of the Crashworthy plate and to
The crash sensor of one signal of outer output, described crash sensor are connected with described control system；When described control
When system receives the signal that described crash sensor is sent, described control system sends to described robot body and held
Threeth operational order of the row away from the avoidance thing.
14. robot for cleaning floor according to claim 7, it is characterised in that：Described robot body performs remote
The operation of the avoidance thing includes：The robot body is controlled to retreat or turned over relative to former direction of advance small more than 0 degree
In the angle equal to 180 degree.
A kind of 15. control method for robot for cleaning floor, it is characterised in that：Described control method includes：
A range data set being made up of several distance value elements is determined in described robot for cleaning floor in advance, should
Range data set is made up of the first range data subset and second distance data subset, the first described range data subset and
Second distance data subset is without common factor；
The described robot for cleaning floor of control autonomous on face to be cleaned simultaneously performs floor cleaning work simultaneously；
Barrier on the described robot for cleaning floor travel path of sensing；
When sensing barrier, control described robot for cleaning floor randomly selected in the range data set one with
Machine distance value, and the random distance value described in post analysis is the element belonged in the first distance value subset still falls within
An element in the second distance value subset；Random distance value is belonged in the first distance value subset as mentioned
During one element, then control described robot for cleaning floor to perform the operation away from the avoidance thing, as mentioned at random away from
An element being belonged to from value in the second distance value subset, described robot for cleaning floor is then controlled along the obstacle
The edge of thing is persistently walked distance corresponding to the random distance value.
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| CN201710779845.9A CN107456162A (en) | 2017-09-01 | 2017-09-01 | Robot for cleaning floor and the control method for robot for cleaning floor |
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| CN201710779845.9A CN107456162A (en) | 2017-09-01 | 2017-09-01 | Robot for cleaning floor and the control method for robot for cleaning floor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108445878A (en) * | 2018-02-28 | 2018-08-24 | 北京奇虎科技有限公司 | A kind of obstacle processing method and sweeping robot for sweeping robot |
| CN109965786A (en) * | 2019-03-30 | 2019-07-05 | 深圳市银星智能科技股份有限公司 | A kind of clean robot and its barrier-avoiding method |
| CN110680243A (en) * | 2019-09-30 | 2020-01-14 | 湖南格兰博智能科技有限责任公司 | Wall-following cleaning control algorithm for floor-sweeping robot |
| CN111565896A (en) * | 2018-01-03 | 2020-08-21 | 三星电子株式会社 | Mobile device for cleaning, cooperative cleaning system, and control method thereof |
| WO2021036072A1 (en) * | 2019-08-26 | 2021-03-04 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method therefor |
| CN117631552A (en) * | 2023-11-30 | 2024-03-01 | 广东爱普电器有限公司 | Kitchen appliance operation intelligent regulation and control system based on data analysis |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111565896A (en) * | 2018-01-03 | 2020-08-21 | 三星电子株式会社 | Mobile device for cleaning, cooperative cleaning system, and control method thereof |
| CN111565896B (en) * | 2018-01-03 | 2023-11-17 | 三星电子株式会社 | Mobile device for cleaning, cooperative cleaning system and control method thereof |
| CN108445878A (en) * | 2018-02-28 | 2018-08-24 | 北京奇虎科技有限公司 | A kind of obstacle processing method and sweeping robot for sweeping robot |
| CN108445878B (en) * | 2018-02-28 | 2022-04-01 | 北京奇虎科技有限公司 | Obstacle processing method for sweeping robot and sweeping robot |
| CN109965786A (en) * | 2019-03-30 | 2019-07-05 | 深圳市银星智能科技股份有限公司 | A kind of clean robot and its barrier-avoiding method |
| WO2021036072A1 (en) * | 2019-08-26 | 2021-03-04 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method therefor |
| CN110680243A (en) * | 2019-09-30 | 2020-01-14 | 湖南格兰博智能科技有限责任公司 | Wall-following cleaning control algorithm for floor-sweeping robot |
| CN117631552A (en) * | 2023-11-30 | 2024-03-01 | 广东爱普电器有限公司 | Kitchen appliance operation intelligent regulation and control system based on data analysis |
| CN117631552B (en) * | 2023-11-30 | 2024-06-18 | 广东爱普电器有限公司 | Kitchen appliance operation intelligent regulation and control system based on data analysis |
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