CN107536565A - From mobile clean robot and its control method - Google Patents
From mobile clean robot and its control method Download PDFInfo
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- CN107536565A CN107536565A CN201711002781.8A CN201711002781A CN107536565A CN 107536565 A CN107536565 A CN 107536565A CN 201711002781 A CN201711002781 A CN 201711002781A CN 107536565 A CN107536565 A CN 107536565A
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- clean robot
- fuselage
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- mobile clean
- distance
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Include the invention discloses a kind of from mobile clean robot and its control method, methods described：Detection in real time is from barrier at left and right sides of mobile clean robot fuselage respectively to distance s1, s2 of fuselage；According to judging the s1 and s2 sums from after mobile clean robot enters narrow space, control is described to perform back operation from mobile clean robot.The situation that can preferably solve to be trapped in corner narrow space from mobile clean robot using the present invention so that certainly mobile clean robot can be more intelligent and effectively completes cleaning.
Description
Technical field
The present invention relates to automatic control technology field, particularly relates to a kind of from mobile clean robot and its control method.
Background technology
With the continuous improvement of people's living standards, self-movement robot has been increasingly entering residential households.
This self-movement robot is generally arranged at the road wheel of bottom by the driver element driving in body, and in the process of walking
Carry out the cleaning on surface to be cleaned.Moreover, it is however generally that, current self-movement robot all have automatic obstacle-avoiding or
The function from high falling is prevented, wherein have much can also independently find charger charging before electric energy exhausts.
However, in actual applications it was found by the inventors of the present invention that existing move clean robot certainly, although degree of intelligence
It is very high, but in actual use, however it remains some problems, such as, often it is trapped in certain from mobile clean robot
It can't get out in the narrow space in individual corner, until electricity exhausts.
The content of the invention
In view of this, it is an object of the invention to propose a kind of certainly mobile clean robot and its control method, preferably
Solves the situation that corner narrow space is trapped in from mobile clean robot so that certainly mobile clean robot can be more intelligent and had
Complete cleaning in effect ground.
A kind of control method from mobile clean robot is provided based on the above-mentioned purpose present invention, including：
Detection in real time is from barrier at left and right sides of mobile clean robot fuselage respectively to distance s1, s2 of fuselage；
According to judging the s1 and s2 sums from after movement clean robot enters narrow space, control is described from shifting
Dynamic clean robot performs back operation.
Wherein, it is described to enter narrow space from mobile clean robot according to judging the s1 and s2 sums, specifically
For：
Judge s1 and s2 sums be less than given threshold situation occur after, and then monitor that the situation continues when
Between；
After the time for monitoring the situation continuity is more than setting time section, it is determined that described enter from mobile clean robot
Enter narrow space.
Further, it is described judge s1 and s2 sums be less than given threshold situation occur after, in addition to：
If monitoring, the time that the situation continues is less than setting time section, cause it is described from movement clean robot after
It is continuous to perform forward operation.
The present invention also provides a kind of certainly mobile clean robot, including：Fuselage, and to drive the fuselage walking
Walking unit, in addition to：
Detection unit, for detecting in real time from the barrier at left and right sides of mobile clean robot fuselage respectively to fuselage
Distance s1, s2；
Control unit, for entering narrow space from mobile clean robot according to the s1 and the judgement of s2 sums
Afterwards, the walking unit is controlled to perform back operation.
Wherein, described control unit is specifically used for after judging that s1 is less than the situation appearance of given threshold with s2 sums,
And then monitor the time that the situation continues；After the time for monitoring the situation continuity is more than setting time section, institute is determined
State from mobile clean robot and enter narrow space, control the walking unit to perform back operation.
Further, if described control unit is additionally operable to monitor that the time that the situation continues is less than setting time section,
The walking unit is controlled to continue executing with forward operation.
In the technical scheme of the embodiment of the present invention, the barrier at left and right sides of fuselage is detected in real time respectively to the distance of fuselage
s1、s2.After judging that coming from mobile clean robot enters narrow space according to distance s1 and s2 sums, the certainly mobile cleaning of control
Robot performs back operation, stranded because that can not perform cornering operation in narrow space so as to avoid.Surveyed using simple
Away from principle, problem proposed by the present invention is efficiently solved, realizes the purpose of the present invention.
Moreover, given also from the left and right distance measuring sensor of mobile clean robot measure from mobile clean robot with
Distance s1, s2 the major part data of the right and left barrier will not be identical, in technical solution of the present invention, be by s1, s2 sum with
Given threshold s compares size, so substantially increases the accuracy of judgement.
Further, in technical scheme, situation of monitoring s1, s2 sum more than given threshold s continued when
Between, and by comparing perdurabgility of monitoring and setting time section t, effectively judge by kissing gate or into stenosis area
Domain, decrease the generation of false judgment.
Brief description of the drawings
Fig. 1 is a kind of specific control method flow chart from mobile clean robot provided in an embodiment of the present invention；
Fig. 2 is a kind of circuit block diagram from mobile clean robot provided in an embodiment of the present invention；
Fig. 3 a, 3b are a kind of structural representation from mobile clean robot provided in an embodiment of the present invention.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is individual ", " described " and "the" may also comprise plural form.It is to be further understood that when we claim element to be " connected " or " coupling
Connect " when arriving another element, it can be directly connected or coupled to other elements, or there may also be intermediary element.In addition, this
In " connection " or " coupling " that uses wireless connection or wireless coupling can be included.Wording "and/or" used herein includes one
The whole or any cell of individual or more individual associated list items and all combinations.
It should be noted that all statements for using " first " and " second " are for differentiation two in the embodiment of the present invention
The non-equal entity of individual same names or non-equal parameter, it is seen that " first " " second " should not only for the convenience of statement
The restriction to the embodiment of the present invention is interpreted as, subsequent embodiment no longer illustrates one by one to this.
The present inventor is had found from mobile cleaning machine to being analyzed from the service condition of mobile clean robot
People is trapped in some corner, it is usually because problematic in robot traveling control method：After robot runs into barrier, it will usually
Attempt to carry out cornering operation, but in some narrow spaces, the cornering operation of robot can cause in being trapped on the contrary
The situation in face.
To solve the above problems, the present inventor is it is considered that can be clear from movement in technical scheme
Distance measuring sensor is set at left and right sides of clean robot fuselage, to the barrier at left and right sides of detection fuselage in real time respectively to fuselage
Distance s1, s2.After judging that coming from mobile clean robot enters narrow space according to distance s1 and s2 sums, control moves certainly
Dynamic clean robot performs back operation, stranded because that can not perform cornering operation in narrow space so as to avoid.
Further, distance also occurs it is considered that when certainly mobile clean robot passes in and out kissing gate in the present inventor
S1, s2 sum are less than the situation of given threshold；To avoid performing back operation by kissing gate mistiming from mobile clean robot, this
In the technical scheme of invention, s1 is also monitored with s2 sums less than the time that the situation of given threshold is continued；If perdurabgility is short,
Such as less than setting time section, then it is the situation by kissing gate to judge certainly mobile clean robot, is controlled from mobile cleaning machine
People continues executing with forward operation；If perdurabgility is grown, for example more than setting time section, then judges to enter from mobile clean robot
Narrow space, then control perform back operation from mobile clean robot, avoided stranded in narrow space so that certainly mobile clear
Clean robot can be more intelligent and effectively completes cleaning.
The technical scheme for embodiment that the invention will now be described in detail with reference to the accompanying drawings.
It is provided in an embodiment of the present invention a kind of from the specific control method of mobile clean robot, from mobile cleaning machine
People periodically performs each step in flow chart as shown in Figure 1, such as, performed every 0.1s each in flow chart as shown in Figure 1
Step.It is as follows the step of flow shown in Fig. 1：
Step S101：Detection is from barrier at left and right sides of mobile clean robot fuselage respectively to distance s1, s2 of fuselage.
Step S102：Judge whether s1 is less than given threshold with s2 sums；If so, judge to enter " doubtful narrow space "
Afterwards, step S103 is performed；Otherwise, step S110 is performed.
For example certainly mobile clean robot fuselage width is 330mm, those skilled in the art can set 200mm to set
Determine threshold value s；When disconnected s1 and s2 sums are less than 200mm, judge to enter " doubtful narrow space ", perform step S103；Otherwise, hold
Row step S110.
Step S103：Further judge whether the time continued into " doubtful narrow space " state is more than setting time
Section；If so, then judging to enter " narrow space ", step S104 is performed；Otherwise, it is determined that certainly mobile clean robot is through narrow
Door, perform step S105.
For example the certainly mobile clean robot speed of service is 0.65m/s, those skilled in the art can be according to actual conditions
Setting 750ms is setting time section t；It is more than 750ms when the time for judging to be continued into " doubtful narrow space " state, then sentences
It is fixed to enter " narrow space ", perform step S104；Otherwise, it is determined that being by kissing gate from mobile clean robot, step is performed
S105。
Step S104：Control is described to perform back operation from mobile clean robot.
Step S105：So that described continue executing with forward operation from mobile clean robot.
Step S110：Continue to keep the travel condition current from mobile clean robot.
It is provided in an embodiment of the present invention a kind of from mobile clean robot, circuit block diagram such as Fig. 2 institutes based on the above method
Show, including：Cleaning unit 201, walking unit 202, power unit 203, detection unit 204, and control unit 205.
Wherein, power unit 203 includes the battery for providing energy, and charging device, can provide electric energy for each unit.
The structure chart from mobile clean robot as shown in Fig. 3 a, 3b, it is arranged at from mobile clean robot fuselage 200
On cleaning unit 201 include brush 207, round brush 208, dirt box 209, and to produce the fan of suction.General fan is set
Put inside dirt box 209.
Walking unit 202 includes driving wheel 210 and stabilizer 211.In order to turn to flexibly, driving wheel is provided with two；Balance
Take turns as universal wheel.
Cleaning unit 201 and walking unit 202 electrically connect with control unit 205, and control unit 205 can be single to cleaning
Member 201 or walking unit 202 send control instruction, control the operation of cleaning unit 201 or walking unit 202.
Control unit 205 also electrically connects with detection unit 204, and control unit 205 receives the number that detection unit 204 is sent
According to, and send control instruction to cleaning unit 201 or walking unit 202 according to the data of reception.
Wherein, detection unit 204 is used to detect the barrier difference from left and right sides of mobile clean robot fuselage in real time
To distance s1, s2 of fuselage；It can wherein include：Passed apart from determination subelement and the ranging being arranged at left and right sides of the fuselage
Sensor 213.
The letter for being used to be sent according to the distance measuring sensor 213 being arranged at left and right sides of the fuselage apart from determination subelement
Number, determine the s1 and s2.
It is preferred that the distance measuring sensor for being arranged at the fuselage side is multiple；That is, it is arranged at from mobile cleaning
Distance measuring sensor 213 on the left of robot fuselage can be multiple, be arranged at from the ranging on the right side of mobile clean robot fuselage
Sensor 213 can also be multiple.
The situation of multiple distance measuring sensors 213 is set corresponding to side, can be according to following method apart from determination subelement
Determine barrier to the distance of fuselage side：The signal that multiple distance measuring sensors according to the side fuselage is arranged at are sent, respectively
Determine the distance value corresponding to the signal that each distance measuring sensor is sent；Wherein lowest distance value is defined as barrier to the side machine
The distance of body；Or the average value of each distance value is defined as barrier to the distance of the side fuselage apart from determination subelement.
Such as the signal sent apart from determination subelement according to the multiple distance measuring sensors for being arranged at left side fuselage, respectively
Determine the distance value corresponding to the signal that each distance measuring sensor is sent；Wherein lowest distance value is defined as barrier to left side machine
The distance of body；Or the average value of each distance value is defined as barrier to the distance of left side fuselage apart from determination subelement.
The distance measuring sensor for being arranged at fuselage both sides can be infrared distance measuring sensor, ultrasonic distance-measuring sensor, swash
One or more combinations in ligh-ranging sensor.
Further, detection unit 204 can also include other sensors, such as：Fall sensor 212, crash sensor,
Gravity sensing sensor, gyroscope etc., battery electric quantity can also be included and detected, dust concentration detection, detection of obstacles, automatic time
Fill the detection means such as signal detection.
Control unit is used for the s1 and s2 determined according to detection unit 204, calculates s1 and s2 sums；And then according to the s1
After judging that the certainly mobile clean robot enters narrow space with s2 sums, control the walking unit execution to retreat and grasp
Make.
Control unit is specifically used for after judging that s1 is less than the situation appearance of given threshold with s2 sums, and then monitors institute
State the time of situation continuity；After the time for monitoring the situation continuity is more than setting time section, it is determined that described from mobile clear
Clean robot enters narrow space, controls the walking unit to perform back operation.
Further, if control unit is additionally operable to monitor that the time that the situation continues is less than setting time section, control
The walking unit continues executing with forward operation.
In the technical scheme of the embodiment of the present invention, the barrier at left and right sides of fuselage is detected in real time respectively to the distance of fuselage
s1、s2.After judging that coming from mobile clean robot enters narrow space according to distance s1 and s2 sums, the certainly mobile cleaning of control
Robot performs back operation, stranded because that can not perform cornering operation in narrow space so as to avoid.Surveyed using simple
Away from principle, problem proposed by the present invention is efficiently solved, realizes the purpose of the present invention.
Moreover, given also from the left and right distance measuring sensor of mobile clean robot measure from mobile clean robot with
Distance s1, s2 the major part data of the right and left barrier will not be identical, in technical solution of the present invention, be by s1, s2 sum with
Given threshold s compares size, so substantially increases the accuracy of judgement.
Further, in technical scheme, situation of monitoring s1, s2 sum more than given threshold s continued when
Between, and by comparing perdurabgility of monitoring and setting time section t, effectively judge by kissing gate or into stenosis area
Domain, decrease the generation of false judgment.
Those skilled in the art of the present technique are appreciated that the present invention includes being related to for performing in operation described herein
One or more equipment.These equipment can specially be designed and manufactured for required purpose, or can also be included general
Known device in computer.These equipment have the computer program being stored in it, and these computer programs are optionally
Activation or reconstruct.Such computer program can be stored in equipment (for example, computer) computer-readable recording medium or be stored in
E-command and it is coupled to respectively in any kind of medium of bus suitable for storage, the computer-readable medium is included but not
Be limited to any kind of disk (including floppy disk, hard disk, CD, CD-ROM and magneto-optic disk), ROM (Read-Only Memory, only
Read memory), RAM (Random Access Memory, immediately memory), EPROM (Erasable Programmable
Read-Only Memory, Erarable Programmable Read only Memory), EEPROM (Electrically Erasable
Programmable Read-Only Memory, EEPROM), flash memory, magnetic card or light card
Piece.It is, computer-readable recording medium includes storing or transmitting any Jie of information in the form of it can read by equipment (for example, computer)
Matter.
Those skilled in the art of the present technique be appreciated that can with computer program instructions come realize these structure charts and/or
The combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.This technology is led
Field technique personnel be appreciated that these computer program instructions can be supplied to all-purpose computer, special purpose computer or other
The processor of programmable data processing method is realized, so as to pass through the processing of computer or other programmable data processing methods
Device performs the scheme specified in the frame of structure chart and/or block diagram and/or flow graph disclosed by the invention or multiple frames.
Those skilled in the art of the present technique are appreciated that in the various operations discussed in the present invention, method, flow
Step, measure, scheme can be replaced, changed, combined or deleted.Further, it is each with having been discussed in the present invention
Kind operation, method, other steps in flow, measure, scheme can also be replaced, changed, reset, decomposed, combined or deleted.
Further, it is of the prior art to have and the step in the various operations disclosed in the present invention, method, flow, measure, scheme
It can also be replaced, changed, reset, decomposed, combined or deleted.
Those of ordinary skills in the art should understand that：The discussion of any of the above embodiment is exemplary only, not
It is intended to imply that the scope of the present disclosure (including claim) is limited to these examples；Under the thinking of the present invention, above example
Or can also be combined between the technical characteristic in different embodiments, step can be realized with random order, and exist such as
Many other changes of upper described different aspect of the invention, for simplicity, they are not provided in details.Therefore, it is all
Within the spirit and principles in the present invention, any omission for being made, modification, equivalent substitution, improvement etc., it should be included in the present invention's
Within protection domain.
Claims (10)
1. a kind of control method from mobile clean robot, including：
Detection in real time is from barrier at left and right sides of mobile clean robot fuselage respectively to distance s1, s2 of fuselage；
According to judging the s1 and s2 sums from after mobile clean robot enters narrow space, control is described from mobile clear
Clean robot performs back operation.
2. according to the method for claim 1, it is characterised in that described certainly mobile according to judging the s1 and s2 sums
Clean robot enters narrow space, is specially：
After judging that s1 is less than the situation appearance of given threshold with s2 sums, and then monitor the time that the situation continues；
After monitoring that time that the situation continues is more than setting time section, it is determined that it is described enter from mobile clean robot it is narrow
Narrow space.
3. according to the method for claim 1, it is characterised in that judge that s1 is less than given threshold with s2 sums described
After situation occurs, in addition to：
If monitoring, the time that the situation continues is less than setting time section, causes the certainly mobile clean robot to continue to hold
Row forward operation.
4. it is a kind of from mobile clean robot, including：Fuselage, and to drive the walking unit of the fuselage walking, it is special
Sign is, in addition to：
Detection unit, for detecting in real time from the barrier at left and right sides of mobile clean robot fuselage respectively to the distance of fuselage
s1、s2；
Control unit, after according to the s1 and the judgement of s2 sums from mobile clean robot into narrow space, control
Make the walking unit and perform back operation.
5. robot according to claim 4, it is characterised in that
Described control unit is specifically used for after judging that s1 is less than the situation appearance of given threshold with s2 sums, and then monitors institute
State the time of situation continuity；After the time for monitoring the situation continuity is more than setting time section, it is determined that described from mobile clear
Clean robot enters narrow space, controls the walking unit to perform back operation.
6. robot according to claim 5, it is characterised in that
If described control unit is additionally operable to monitor that the time that the situation continues is less than setting time section, the walking is controlled
Unit continues executing with forward operation.
7. according to any described robots of claim 4-6, it is characterised in that the detection unit includes：
The distance measuring sensor being arranged at left and right sides of the fuselage；
Apart from determination subelement, for the signal sent according to the distance measuring sensor, the s1 and s2 are determined.
8. robot according to claim 7, it is characterised in that it is more to be arranged at the distance measuring sensor of the fuselage side
It is individual.
9. robot according to claim 8, it is characterised in that
It is described to be specifically used for determining barrier to the distance of fuselage side according to following method apart from determination subelement：According to setting
In the signal that multiple distance measuring sensors of the side fuselage are sent, determine respectively corresponding to the signal that each distance measuring sensor is sent away from
From value；Wherein lowest distance value is defined as barrier to the distance of the side fuselage.
10. according to any described robots of claim 7-9, it is characterised in that the distance measuring sensor is：Infrared distance measuring
Sensor, ultrasonic distance-measuring sensor, laser range sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711002781.8A CN107536565A (en) | 2017-10-24 | 2017-10-24 | From mobile clean robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711002781.8A CN107536565A (en) | 2017-10-24 | 2017-10-24 | From mobile clean robot and its control method |
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| Publication Number | Publication Date |
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| CN107536565A true CN107536565A (en) | 2018-01-05 |
Family
ID=60968101
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| CN201711002781.8A Pending CN107536565A (en) | 2017-10-24 | 2017-10-24 | From mobile clean robot and its control method |
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| CN108693880A (en) * | 2018-05-15 | 2018-10-23 | 北京石头世纪科技有限公司 | Intelligent mobile equipment and its control method, storage medium |
| CN108762247A (en) * | 2018-04-21 | 2018-11-06 | 广东宝乐机器人股份有限公司 | Obstacle avoidance control method for self-moving equipment and self-moving equipment |
| CN109480708A (en) * | 2018-12-19 | 2019-03-19 | 珠海市微半导体有限公司 | The position reminding method of clean robot |
| CN110992809A (en) * | 2019-12-19 | 2020-04-10 | 佛山科学技术学院 | Intelligent education robot |
| CN111358370A (en) * | 2020-03-18 | 2020-07-03 | 五邑大学 | Floor sweeping robot and walking method thereof |
| WO2023160368A1 (en) * | 2022-02-25 | 2023-08-31 | 追觅创新科技(苏州)有限公司 | Self-moving device control method, device, and storage medium |
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