CN111374600B - Self-tracing control method of sweeping robot and intelligent sweeping robot - Google Patents
Self-tracing control method of sweeping robot and intelligent sweeping robot Download PDFInfo
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- CN111374600B CN111374600B CN201811617732.XA CN201811617732A CN111374600B CN 111374600 B CN111374600 B CN 111374600B CN 201811617732 A CN201811617732 A CN 201811617732A CN 111374600 B CN111374600 B CN 111374600B
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- sweeping 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
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Abstract
The invention relates to a self-tracing control method of a sweeping robot, belonging to the field of intelligent robots, and the method comprises the following steps: s1, setting an initial traveling direction of the sweeping robot by a user, and sweeping and mopping the floor by the sweeping robot according to the set direction; s2, when the sweeping robot turns around and returns, the trace detection device detects traces left by a mop when the sweeping robot moves in the initial direction, and the sweeping robot is controlled to serve as a path-finding reference for turning around and returning to clean and mopping the floor according to the traces; and S3, when the sweeping robot returns again, controlling the sweeping robot to serve as a path-finding reference for returning to the sweeping and mopping mode by turning around according to the trace left at the last time. The control method of the invention only uses the cleaned ground trace as the route reference for the u-turn cleaning, which not only can conveniently realize intelligent navigation, but also can not miss cleaning and efficiently finish the cleaning task.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a sweeping robot self-tracing control method and an intelligent sweeping robot.
Background
With the gradual increase of purchasing power of people, the consumption concept of residents is also undergoing a subtler change, which is specifically expressed in that the demand on intelligent products such as service robots is obviously enhanced; meanwhile, the fast-paced life brought by the urbanization process leads to the reduction of the housework time of people, and the rigid demand on the housework robot is also shown. And the intelligent degree of the service robot is rapidly improved by technical progress, so that the intelligent requirement pain point of the home of a consumer can be better met. In the technical aspect, the coming of the mobile internet era enables people to use smart phones as mobile terminals to realize remote control of intelligent hardware such as home service robots and the like, and user experience of people on intelligent products is remarkably improved, so that the development of the home service robot industry is closely linked with the internet of things and smart home life. In recent years, the market demand of domestic service robots is rapidly increasing. The sweeping robot is divided into three categories according to cleaning systems: the single suction port type, the middle brush clamp type and the lifting V-shaped brush cleaning system type. Wherein, the single suction type is a single suction type cleaning mode and is suitable for cleaning floating ash on the ground; the middle brush is clamped oppositely, so that the cleaning effect on large particles and carpets is good; the lifting V-shaped brush cleaning system adopts lifting V-shaped floating cleaning, so that the cleaning system can be better attached to the ground environment, and the electrostatic adsorption dust cleaning is more in place.
Some sweeping paths of the existing sweeping robot adopt random collision to change course, the sweeping robot lacks planning on a sweeping area, the area to be swept can be covered only by spending longer time, the sweeping efficiency is low, the sweeping can be completed quickly only by guiding through user intervention, but the user intervention guiding product needs participation of a user every time of steering, and the use experience of the user is greatly reduced. For this reason, various sweeping robots capable of planning a route are proposed in the related art, for example, a polygonal traveling route or a fuzzy control method is adopted, and although this method can achieve path planning to a certain extent and improve sweeping efficiency, it is necessary to implement environmental modeling with a lot of sensors at a high cost. Based on this, there is a need to develop a sweeping robot capable of intelligently planning a route at low cost.
Disclosure of Invention
The invention provides a self-tracing control method of a sweeping robot and an intelligent sweeping robot, which can realize path planning and cleaning with lower cost. The specific scheme is as follows:
a control method for self-tracing of a sweeping robot comprises a trace detection device and a mop, wherein the mop is arranged at the tail of the sweeping robot and used for wiping the ground after sweeping, and the trace detection device is used for detecting the trace of the ground wiped by the mop; the control method comprises the following steps: s1, setting an initial traveling direction of the sweeping robot by a user, and sweeping and mopping the floor by the sweeping robot according to the initial traveling direction; s2, when the sweeping robot turns around and returns, the trace detection device detects traces left by a mop when the sweeping robot moves in the initial moving direction, and the sweeping robot is controlled to serve as a path-finding reference for turning around and returning to clean and mopping the floor according to the traces; and S3, when the sweeping robot returns again, controlling the sweeping robot to serve as a path-finding reference for returning to the sweeping and mopping mode by turning around according to the trace left at the last time.
Further, the mop cloth is a wet mop cloth, and the ground mark wiped by the mop cloth is a wet mark.
Further, the trace detection device is a camera, and the camera acquires a picture containing the wet trace.
Further, controlling the sweeping robot to return to sweeping and mopping as a path finding reference according to the trace comprises: when the sweeping robot turns around and returns, the camera assembly is controlled to acquire the wet mark in real time, and the sweeping robot is controlled to adjust the advancing angle so that the sweeping robot has a part of the machine body to cover the wet mark.
Furthermore, the trace detection device is a humidity detector which is a sensor arranged on a travelling wheel of the sweeping robot at intervals; controlling the sweeping robot to serve as a path finding reference for turning around, returning to sweep and mopping the floor according to the trace comprises the following steps: and controlling the sweeping robot to detect the preset humidity by wheels on one side during the traveling process.
Furthermore, a wheel on the other side of the sweeping robot is also provided with a humidity sensor, and the sweeping robot controls the sweeping robot to move according to data of the humidity sensors on the two sides; when the humidity sensor on one side detects periodic humidity data and the humidity sensor on the other side does not detect the periodic humidity data, controlling the sweeping robot to move in the current direction; when the humidity sensors on the two sides detect periodic humidity data, controlling the sweeping robot to move for a distance of at most one machine body along a direction perpendicular to the wet mark; when the humidity sensors on the two sides do not have humidity signals, the sweeping robot is controlled to move in the current direction along the distance perpendicular to the current advancing direction of the east robot body, the data of the sensors on the two sides are compared again, if the data of the humidity sensors on the two sides are different, the sweeping robot is kept to move in the current direction, and if the data of the humidity sensors on the two sides are the same, the sweeping robot is controlled to move in the opposite directions for at least two distances of the robot body.
Further, when the sweeping robot turns around and returns, the sweeping robot is controlled to move at most one distance of the sweeping robot body along the direction perpendicular to the trace.
According to the method, the sweeping robot uses the ground trace which is swept as a navigation basis for returning to the area to be cleaned again, and is controlled to move along the edge of the ground which is swept, the control method avoids the problems that the sweeping robot randomly collides with blind sweeping and is low in efficiency, an environment model is built by overcoming obstacles, a sweeping route is designed according to a plurality of parameters, and only the ground trace which is swept is used as a route reference for turning round sweeping, so that intelligent navigation can be conveniently realized, sweeping can be avoided, and a sweeping task can be efficiently completed.
The intelligent sweeping robot adopts the self-tracing control method of the sweeping robot. The intelligent sweeping robot adopts the sweeping robot self-tracing control method, so that the intelligent sweeping robot has the same technical effect as the intelligent sweeping robot self-tracing control method, and is not repeated.
Drawings
Fig. 1 is a flowchart illustrating a control method according to an embodiment of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
The technical solution of the present invention is schematically described below with reference to fig. 1, and the control method for self-tracing of the sweeping robot shown in fig. 1 includes a trace detection device and a mop, wherein the mop is arranged at the tail of the sweeping robot for wiping the ground after sweeping, and the trace detection device is used for detecting the trace of the ground wiped by the mop; the control method comprises the following steps: s1, setting an initial traveling direction of the sweeping robot by a user, and sweeping and mopping the floor by the sweeping robot according to the initial traveling direction; s2, when the sweeping robot turns around and returns, the trace detection device detects traces left by a mop when the sweeping robot moves in the initial moving direction, and the sweeping robot is controlled to serve as a path-finding reference for turning around and returning to clean and mopping the floor according to the traces; and S3, when the sweeping robot returns again, controlling the sweeping robot to serve as a path-finding reference for returning to the sweeping and mopping mode by turning around according to the trace left at the last time.
The sweeping robot is usually an auxiliary tool for household cleaning, and a user often sweeps rooms one by one during sweeping, for example, when the floor of a living room needs to be swept, the sweeping robot is firstly placed at a certain side of the living room and is made to move forward in a direction desired by the user for sweeping, and usually, a boundary line exists between the floor that is swept and the floor that is not swept, for example, an interface where cleanliness jumps is a mark boundary line of the swept floor. In order to distinguish the trace of the cleaned floor more easily and accurately, the wet trace of the cleaned interface is often used as an object for detection, because dust does not raise when the existing sweeping robot seeks cleaning, a mop is usually arranged at the tail of a machine body, the mop becomes wet after being soaked in water of a water tank, and obvious wet trace is left in the process of traveling. The wet mark is used as a mark of the self-tracing of the sweeping robot, and the sweeping robot moves along the boundary of the mark after turning around. The track-seeking control of the sweeping robot can be simply and conveniently realized, the sweeping can be efficiently carried out, and the condition of missing sweeping is completely avoided.
The detection of the cleaning traces in the embodiment of the invention can be realized by a camera arranged on the body of the sweeping robot, and the camera acquires the picture containing the wet traces. After the camera acquires the picture containing the wet mark, the picture is subjected to image analysis, and the boundary between the wet mark and the area to be cleaned is extracted, wherein the boundary can be a fuzzy area, and the cleaned area occupies a large proportion in the area. As for the image analysis technology which is not the focus of the invention, the method can be carried out by all means which can be realized by the prior art. The robot can acquire the boundary in real time during traveling, the camera assembly can acquire the boundary during traveling, if the boundary is bent, the camera rotates by an angle along with the boundary so that the extracted boundary is maintained in a certain area, and the sweeping robot is also controlled to maintain the same rotation angle as the camera so as to ensure real-time cleaning along the boundary.
For example, controlling the sweeping robot to return to sweeping and mopping as a way finding reference according to the trace comprises: when the sweeping robot turns around and returns, the camera assembly is controlled to acquire the wet mark in real time, and the sweeping robot is controlled to adjust the advancing angle so that the sweeping robot has a part of the machine body to cover the wet mark.
In addition to using the camera assembly to obtain the trace, the trace detection apparatus according to the embodiment of the present invention may also be a moisture detector, and for the purpose of example, the moisture detector is a sensor disposed on a traveling wheel of the sweeping robot at intervals; the humidity sensor is arranged on the wheel, so that the construction of the sweeping robot is not increased, and if the cost and the requirement of destroying the appearance beautification of the robot are not considered, a humidity detection device can be additionally arranged. In the embodiment of the invention, the humidity sensors are arranged on the wheels at intervals, for example, a plurality of humidity sensors, for example, 1 or 2 humidity sensors, are uniformly arranged on one of the wheels, 1 or 2 pulses are triggered when the humidity detected by the sensors is detected when the wheels rotate for one circle, if the pulses are triggered according to the traveling speed in a regular manner, the wheel is pressed on the cleaned wet mark, and the sweeping robot is controlled to travel along the wet mark.
In order to prevent the robot of sweeping the floor along the repeated cleaning in the region that has cleaned also be provided with humidity transducer on the wheel of the robot opposite side of sweeping the floor, the robot of sweeping the floor is marchd according to the sensor data control of both sides, and is concrete, and the sensor detection of one side is periodic humidity, and the other side sensor is controlled when not detecting periodic humidity data the robot of sweeping the floor is marchd with the current direction, works as the sensor of both sides all detects periodic humidity numerical value when, controls the robot of sweeping the floor removes the distance of at most one fuselage along the direction of the wet trace of perpendicular to. When the data of the sensors on the two sides are different, the sweeping robot does not sweep repeatedly. When the sensors on the two sides do not have humidity signals, the sweeping robot is indicated to miss sweeping, the sweeping robot is controlled to run for a distance of one machine body along the direction perpendicular to the current running direction, the data of the sensors on the two sides are compared again, if the data of the sensors on the two sides are different, the sweeping robot is indicated to return to the correct position, and if the data on the two sides are still the same, the sweeping robot is controlled to move in the opposite direction for the distance of at least two machine bodies, and the data of the sensors on the two sides are compared again.
Preferably, when the sweeping robot turns around and returns, the sweeping robot is controlled to move at most one distance of the sweeping robot body along a direction perpendicular to the trace.
The sweeping robot uses the trace of the ground which is swept as a navigation basis for returning to the area to be cleaned again, and controls the sweeping robot to move along the edge of the ground which is swept, the control method avoids the problem that the sweeping robot randomly collides with the blind sweeping and has low efficiency, also avoids the problem that an environment model is built by overcoming obstacles and a sweeping route is designed according to a plurality of parameters, and only the trace of the ground which is swept is used as a route reference for turning round and sweeping, so that the intelligent navigation can be conveniently realized, the sweeping can be avoided, and the sweeping task can be efficiently completed.
In addition, the invention exemplarily provides an intelligent sweeping robot, which adopts the sweeping robot self-tracing control method. The intelligent sweeping robot adopts the sweeping robot self-tracing control method, so that the intelligent sweeping robot has the same technical effect as the intelligent sweeping robot self-tracing control method, and is not repeated.
It should be noted that any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments. In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium. The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents, which are to be considered as merely preferred embodiments of the invention, and not intended to be limiting of the invention, and that various changes and modifications may be effected therein by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A control method for self-tracing of a sweeping robot comprises a trace detection device and a mop, wherein the mop is arranged at the tail of the sweeping robot and used for wiping the ground after sweeping, and the trace detection device is used for detecting the trace of the ground wiped by the mop; the method is characterized in that: the control method comprises the following steps: s1, setting an initial traveling direction of the sweeping robot by a user, and sweeping and mopping the floor by the sweeping robot according to the initial traveling direction; s2, when the sweeping robot turns around and returns, the trace detection device detects traces left by a mop when the sweeping robot moves in the initial moving direction, and the sweeping robot is controlled to serve as a path-finding reference for turning around and returning to clean and mopping the floor according to the traces; s3, when the sweeping robot returns again, controlling the sweeping robot to return to a sweeping and mopping way reference according to the last left trace as a U-turn;
the trace detection device is a humidity detector, the travelling wheels on the two sides of the sweeping robot are respectively provided with the humidity detector, and the sweeping robot controls the sweeping robot to travel according to the data of the humidity sensors on the two sides; when the humidity sensor on one side detects periodic humidity data and the humidity sensor on the other side does not detect the periodic humidity data, controlling the sweeping robot to move in the current direction; when the humidity sensors on the two sides detect periodic humidity data, controlling the sweeping robot to move for a distance of at most one machine body along a direction perpendicular to the wet mark; when the humidity sensors on the two sides do not have humidity signals, the sweeping robot is controlled to move for the distance of at most one machine body along the direction perpendicular to the current advancing direction, the data of the sensors on the two sides are compared again, if the data of the humidity sensors on the two sides are different, the sweeping robot is kept to move in the current direction, and if the data of the humidity sensors on the two sides are the same, the sweeping robot is controlled to move for the distance of at least two machine bodies in the opposite direction.
2. The control method according to claim 1, characterized in that: the mop cloth is wet mop cloth, and the ground traces wiped by the mop cloth are wet traces.
3. The control method according to claim 2, characterized in that: the trace detection device is a camera, and the camera acquires a picture containing the wet trace.
4. The control method according to claim 3, characterized in that: controlling the sweeping robot to serve as a path finding reference for turning around, returning to sweep and mopping the floor according to the trace comprises the following steps: when the sweeping robot turns around and returns, the camera assembly is controlled to acquire the wet mark in real time, and the sweeping robot is controlled to adjust the advancing angle so that the sweeping robot has a part of the machine body to cover the wet mark.
5. The control method according to claim 1, characterized in that: the trace detection device is a humidity detector which is a sensor arranged on a travelling wheel of the sweeping robot at intervals; controlling the sweeping robot to serve as a path finding reference for turning around, returning to sweep and mopping the floor according to the trace comprises the following steps: and controlling the sweeping robot to detect the preset humidity by wheels on one side during the traveling process.
6. The control method according to claim 1, characterized in that: when the sweeping robot turns around and returns, the sweeping robot is controlled to move at most one distance along the direction perpendicular to the trace.
7. An intelligent sweeping robot, which is characterized in that the intelligent sweeping robot adopts the self-tracing control method of the sweeping robot as claimed in any one of claims 1 to 6.
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| CN201811617732.XA CN111374600B (en) | 2018-12-28 | 2018-12-28 | Self-tracing control method of sweeping robot and intelligent sweeping robot |
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