CN110338135A - The avoidance traveling method of fish jar clean robot - Google Patents
The avoidance traveling method of fish jar clean robot Download PDFInfo
- Publication number
- CN110338135A CN110338135A CN201810296603.9A CN201810296603A CN110338135A CN 110338135 A CN110338135 A CN 110338135A CN 201810296603 A CN201810296603 A CN 201810296603A CN 110338135 A CN110338135 A CN 110338135A
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- Prior art keywords
- robot
- fish jar
- wall
- jar inner
- initial position
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 143
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000004888 barrier function Effects 0.000 claims abstract description 32
- 230000007306 turnover Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 abstract description 13
- 230000000694 effects Effects 0.000 abstract description 5
- 238000004886 process control Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/10—Cleaning bottoms or walls of ponds or receptacles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of avoidance traveling method of fish jar clean robot, include the following steps: that robot from initial position, walks along first direction arc type, successively traverses each fish jar inner wall；When robot ambulation detects barrier, the type of the barrier is judged；When judging the barrier for fixed obstacle, after the completion of robot will be provided with barrier and be located at the fish jar inner wall side traversal of robot ambulation side, robot is back to the initial position；Arc type is walked in the opposite direction for Robot and first party, successively traverses remaining fish jar inner wall;When disturbance in judgement object is moving obstacle, robot stops walking, after preset time, walks on, successively traverses each fish jar inner wall.The avoidance traveling method of above-mentioned fish jar clean robot, process control is simple, and without configuring multiple sensors, reduces robot cost；Arc type walking path can guarantee that fish jar inner wall is completely covered, and improve cleaning effect.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of avoidance traveling method of fish jar clean robot.
Background technique
The attachment of fish jar inner wall not only endangers the health of fish, also will affect the ornamental value to fish, it is therefore desirable to periodically clear
Clean fish jar inner wall is to keep the cleaning ambient of fish jar.Existing fish jar clean robot realizes robot by the operation of propeller
Cleaning and the conversion of traffic direction are contacted with fish bowl wall, but when fish jar inner wall is provided with drainpipe, drainpipe can stop
The walking of fish jar clean robot, robot need to complete the movement of across obstacle, and process control is complicated, and need to configure a variety of
Sensor is completed to cross over, at high cost.
Summary of the invention
Based on this, that the technical problem to be solved in the present invention is to provide a kind of process controls is simple, at low cost, coverage rate is high
The avoidance traveling method of fish jar clean robot.
It is achieved in order to solve the above technical problems, the present invention adopts the following technical solutions:
A kind of avoidance traveling method of fish jar clean robot, described method includes following steps:
The robot walks along first direction arc type from initial position, successively traverses each fish jar inner wall；
When the robot ambulation detects barrier, the type of the barrier is judged；
When judging the barrier for fixed obstacle, the robot will be provided with the barrier and be located at robot ambulation
After the completion of the fish jar inner wall side traversal of side, the robot is back to the initial position；
Arc type is walked in the opposite direction for the Robot and first party, successively traverses remaining fish jar inner wall.
When judging the barrier for moving obstacle, the robot stops walking, after preset time, after continuing
It walks, successively traverses each fish jar inner wall.
The arc type traversal is the traversal walked along the vertical direction in one of the embodiments,.
The arc type traversal is the traversal walked in the horizontal direction in one of the embodiments,.
The step of successively traversing each fish jar inner wall in one of the embodiments, include:
At the end of each fish jar inner wall arc type traversal, judge whether the robot is located at the bottom side of fish jar inner wall；
When the robot is located at fish jar inner wall bottom side, the robot turn-over moves to next fish jar inner wall and carries out walking time
It goes through；
When the robot is not at fish jar inner wall bottom side, the Robot fish jar inner wall edge runs to fish jar inner wall
Behind bottom side, turn-over moves to next fish jar inner wall and carries out walking traversal.
In one of the embodiments, in the step of robot is back to the initial position, the robot
The initial position is back to the shortest distance along fish jar inner wall and bottom surface.
In one of the embodiments, in the step of robot is back to the initial position, the robot
The initial position is back to along the fish jar inner wall bottom side that it walks side.
In one of the embodiments, after the step of successively traversing remaining fish jar inner wall, further includes: the robot
It is back to the initial position.
The bottom side of the fish jar inner wall is arranged in the initial position in one of the embodiments,.
The robot includes wireless charging module in one of the embodiments, and the initial position is provided with wirelessly
Charging unit, the wireless charging device charge to the robot by the wireless charging module of the robot.
The robot includes the detection device that emerges in one of the embodiments, and the robot is according to
Emerge detection device, controls in the robot arc type walking process, the steering when emerging.
Compared with prior art, the advantages and positive effects of the present invention are:
In the avoidance traveling method of above-mentioned fish jar clean robot, robot can be kept away according to different obstacle identities
Barrier, when barrier is moving obstacle (fish etc.), robot stopping movement being waited after fish migration according still further to original path row
It walks.When robot detects that barrier is fixed obstacle (drainpipe etc.), robot can be returned when detecting barrier
To initial position, walking cleaning is carried out from another opposite direction, cleans remaining fish jar wall surface, to complete entire fish jar inner wall
Cleaning.The program for controlling robot ambulation is simple, and reduce across movement without configuring multiple sensors for robot
Robot cost；Arc type walking path can guarantee that fish jar inner wall is completely covered, and improve cleaning effect.
Detailed description of the invention
Fig. 1 is the flow chart of the avoidance traveling method of fish jar clean robot of the present invention；
Fig. 2 is the avoidance walking schematic diagram of fish jar clean robot in the embodiment of the present invention one；
Fig. 3 is the avoidance walking schematic diagram of fish jar clean robot in the embodiment of the present invention two.
Specific embodiment
Specific embodiments of the present invention are described in detail below with reference to Figure of description, but the present invention can be with
The multitude of different ways for being defined by the claims and covering is implemented.
The present invention provides a kind of avoidance traveling method of fish jar clean robot, the walking for robot in fish jar inner wall one week
Region.In the present embodiment, the bottom side of fish jar inner wall is arranged in the initial position of robot.Fish jar drainpipe setting with starting
On the opposite fish jar inner wall in position.The robot detection device that breaks the barriers can detecte barrier on track route, and
Judge obstacle identity, i.e., whether is the fixed obstacles such as the moving obstacles such as fish or drainpipe.
As shown in Figure 1, the avoidance traveling method of fish jar clean robot includes the following steps:
S100, robot walk along first direction arc type from initial position, successively traverse each fish jar inner wall；
S200 judges the type of the barrier when robot ambulation detects barrier；
S310, when judging the barrier for fixed obstacle, robot will be provided with barrier and be located at robot ambulation side
Fish jar inner wall side traversal after the completion of, robot is back to initial position；
Arc type is walked in the opposite direction for S311, Robot and first party, successively traverses remaining fish jar inner wall；
S320, when disturbance in judgement object is moving obstacle, robot stops walking, after preset time, walks on, successively
Traverse each fish jar inner wall.
In the avoidance traveling method of above-mentioned fish jar clean robot, robot is first determined whether when detecting barrier
The type of barrier, when barrier is moving obstacle (fish etc.), robot stopping movement, wait after fish migration according still further to
Original path walking.When robot detect barrier be fixed obstacle (drainpipe etc.), initial position can be back to, from
Another opposite direction carries out walking cleaning, cleans remaining fish jar wall surface, to complete the cleaning of entire fish jar inner wall.Control machine
The program of device people walking is simple, and carries out reducing robot cost across movement without configuring multiple sensors for robot；
Arc type walking path can guarantee that fish jar inner wall is completely covered, and improve cleaning effect.
Embodiment one
Fig. 2 is the avoidance walking schematic diagram of one fish jar clean robot of the embodiment of the present invention.As shown in Fig. 2, of the invention is specific
Avoidance walking process is described in detail below.In the present embodiment, machine is artificially walked along the vertical direction, and arc type traverses each fish
The inside wall of cylinder.It is backward to be moved to the left certain distance when running upwards at the top of fish jar from the initial position a of bottom for robot
Lower walking, the fish jar inner wall on the left of arc type traversal path.When robot has traversed the fish jar inner wall in left side, robot is turned over
Face is moved on adjacent another fish jar inner wall, is continued arc type walking and is traversed the fish jar inner wall, and so on.When robot examines
When measuring barrier A, if robot is located at the top of fish jar inner wall, robot, which turns to, continues walking downwards, completes machine
People is located at the traversal of the fish jar inner wall side of its side of walking.Then, robot is back to initial position.Robot is back to starting
Behind position, robot is walked with the direction opposite with traffic direction before, and remaining fish jar inner wall traversal (is not shown in Fig. 2
Out).When the initial position of robot is arranged at fish jar inner wall bottom side, after robot correcting action, move right backward
Upper walking traverses the other side of fish jar inner wall.It is of course also possible to move right again after walking upwards, arc type traversal is carried out.?
In other embodiments, when the middle part of fish jar inner wall is arranged in the initial position of robot, after robot correcting action,
It moves right again after walking downwards, traverses the other side of fish jar inner wall.
Further, in S100 step, the step of successively traversing each fish jar inner wall, includes:
S110 judges whether robot is located at the bottom side of fish jar inner wall at the end of each fish jar inner wall arc type traversal；
S120, when robot is located at fish jar inner wall bottom side, robot turn-over moves to next fish jar inner wall and carries out walking traversal；
S130, when robot is not at fish jar inner wall bottom side, Robot fish jar inner wall edge runs to fish jar inner wall bottom
Behind side, turn-over moves to next fish jar inner wall and carries out walking traversal.
The bottom side that robot is set in fish jar inner wall is subjected to turn-over walking, it is ensured that Robot fish jar bottom surface is more
Smoothly complete turn-over operation；Meanwhile if when robot is located at the top side of fish jar inner wall, the walking of Robot fish jar inner wall edge
To fish jar inner wall bottom side, repeated washing can be carried out to fish jar corner, improve the cleaning effect of the corner of fish jar inner wall.Such as
Shown in Fig. 2, in the present embodiment, when robot ambulation to the point position b, returns again to and postpone turn-over to c point and turn to another fish jar
Inner wall.Similarly when running to the point position d, returns again to e point position, overturn from e point to another fish jar inner wall.Other real
It applies in example, robot can also be set after traversal completes each fish jar inner wall, repeat walking one along the edge of the fish jar inner wall
Turn-over operation is carried out after secondary again, carries out arc type time again after the edge of another fish jar inner wall equally repeats to walk once after turn-over
It goes through.
Specifically, in S310 step, the step of robot is back to initial position, including two ways.Mode 1, machine
Device people is back to initial position along fish jar inner wall and bottom surface with the shortest distance, i.e., in the present embodiment, along fish jar from f point position
Bottom surface straight line is back to initial position a.Robot is back to initial position along robot inner wall and bottom surface from barrier A, contracting
The short robot ambulation time improves walking cleaning efficiency.The fish jar inner wall bottom side of mode 2, its side of walking of Robot returns
To initial position, i.e., initial position a is back to through d point, c point along fish jar inner wall bottom side from f point position.It is returned along walking side,
The bottom side of the fish jar inner wall cleaned can be cleaned one time again, the bottom side attachment sediment of general fish jar inner wall is more, this
Return path can guarantee the cleaning effect of fish jar inner wall.
Embodiment two
In the present embodiment, from embodiment one the difference is that the direction of robot arc type traversal is different.In the present embodiment
In, Fig. 3 is schematically shown, and Robot horizontal direction walking, arc type traverses each fish jar inner wall.Robot is from bottom
Beginning position is set out, to the so far seamed edge of fish jar inner wall of walking at when, turn again to walk to the right after moving up certain distance, when
When being moved to above initial position, turn again to, the fish jar inner wall on the left of arc type traversal path.When robot has traversed left side
Fish jar inner wall when, robot turn-over is moved on adjacent another fish jar inner wall, continue arc type walking traverse the fish jar in
Wall, and so on.When robot is moved to the fish jar inner wall walking of barrier A, when detecting barrier A, robot is turned to
It is turned again to after moving a certain distance, walks on and traversed the fish jar inner wall side for being located at robot ambulation side.Then, machine
After people is back to initial position, robot is walked with the direction opposite with traffic direction before, and remaining fish jar inner wall is traversed.
Further, in S311 step, after the step of successively traversing remaining fish jar inner wall, further includes:
S400, robot are back to initial position.Robot is back to the mode of initial position, referring to robot in S200 step
It is back to the mode of initial position, initial position can be back to along fish jar bottom surface or along the bottom side of fish jar inner wall.
Further, robot includes the detection device that emerges, and robot controls machine according to the detection device that emerges
In device people's arc type walking process, the steering when emerging.
Further, robot further includes wireless charging module, and wireless charging device is arranged in original position.Wireless charging
Electric installation can be charged by the wireless charging module of robot to robot.When robot is in initial position a charging complete
When, from initial position, carry out fish jar clean operation.After the completion of cleaning, robot is back to initial position a, it is standby or
Charging operations are carried out again.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of avoidance traveling method of fish jar clean robot, which is characterized in that described method includes following steps:
The robot walks along first direction arc type from initial position, successively traverses each fish jar inner wall；
When the robot ambulation detects barrier, the type of the barrier is judged；
When judging the barrier for fixed obstacle, the robot will be provided with the barrier and be located at robot ambulation
After the completion of the fish jar inner wall side traversal of side, the robot is back to the initial position；
Arc type is walked in the opposite direction for the Robot and first party, successively traverses remaining fish jar inner wall；
When judging the barrier for moving obstacle, the robot stops walking, after preset time, walks on,
Successively traverse each fish jar inner wall.
2. the avoidance traveling method of fish jar clean robot according to claim 1, which is characterized in that the arc type time
Go through the traversal to walk along the vertical direction.
3. the avoidance traveling method of fish jar clean robot according to claim 1, which is characterized in that the arc type time
Go through the traversal to walk in the horizontal direction.
4. the avoidance traveling method of fish jar clean robot according to claim 1, which is characterized in that successively traverse each
The step of fish jar inner wall includes:
At the end of each fish jar inner wall arc type traversal, judge whether the robot is located at the bottom side of fish jar inner wall；
When the robot is located at fish jar inner wall bottom side, the robot turn-over moves to next fish jar inner wall and carries out walking time
It goes through；
When the robot is not at fish jar inner wall bottom side, the Robot fish jar inner wall edge runs to fish jar inner wall
Behind bottom side, turn-over moves to next fish jar inner wall and carries out walking traversal.
5. the avoidance traveling method of fish jar clean robot according to claim 1-4, which is characterized in that in institute
It states in the step of robot is back to the initial position, the Robot fish jar inner wall and bottom surface are back to the shortest distance
The initial position.
6. the avoidance traveling method of fish jar clean robot according to claim 1-4, which is characterized in that in institute
It states in the step of robot is back to the initial position, its fish jar inner wall bottom side for walking side of the Robot is back to institute
State initial position.
7. the avoidance traveling method of fish jar clean robot according to claim 1, which is characterized in that surplus in successively traversal
After the step of remaining fish jar inner wall, further includes: the robot is back to the initial position.
8. the avoidance traveling method of fish jar clean robot according to claim 1, which is characterized in that the initial position
The bottom side of the fish jar inner wall is set.
9. the avoidance traveling method of fish jar clean robot according to claim 1, which is characterized in that the robot packet
Wireless charging module is included, the initial position is provided with wireless charging device, and the wireless charging device passes through the robot
Wireless charging module charge to the robot.
10. the avoidance traveling method of fish jar clean robot according to claim 1, which is characterized in that the robot
Including the detection device that emerges, the robot emerges detection device according to, controls the robot arc type
In walking process, the steering when emerging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810296603.9A CN110338135B (en) | 2018-04-02 | 2018-04-02 | Obstacle avoidance walking method of fish tank cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810296603.9A CN110338135B (en) | 2018-04-02 | 2018-04-02 | Obstacle avoidance walking method of fish tank cleaning robot |
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| Publication Number | Publication Date |
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| CN110338135A true CN110338135A (en) | 2019-10-18 |
| CN110338135B CN110338135B (en) | 2021-09-17 |
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| CN201810296603.9A Active CN110338135B (en) | 2018-04-02 | 2018-04-02 | Obstacle avoidance walking method of fish tank cleaning robot |
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Cited By (2)
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| CN113741467B (en) * | 2021-09-07 | 2023-10-13 | 深圳大方智能科技有限公司 | Vertical wall surface construction method and construction robot |
| CN117260745A (en) * | 2023-11-22 | 2023-12-22 | 光交澳(上海)智能科技有限公司 | Water tank cleaning method, device, equipment and storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110338135B (en) | 2021-09-17 |
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