CN115486765A - Self-moving robot and correction method thereof - Google Patents

Self-moving robot and correction method thereof Download PDF

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Publication number
CN115486765A
CN115486765A CN202211176256.9A CN202211176256A CN115486765A CN 115486765 A CN115486765 A CN 115486765A CN 202211176256 A CN202211176256 A CN 202211176256A CN 115486765 A CN115486765 A CN 115486765A
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China
Prior art keywords
robot
main body
robot main
self
route
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CN202211176256.9A
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CN115486765B (en
Inventor
闫庚龙
王陈诚
孙明跃
姚永莹
乔德胜
雷致远
王选瑜
罗鼎
郭雪
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Moutai University
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Moutai University
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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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L11/4002—Installations of electric equipment
    • 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
    • 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
    • A47L11/4072—Arrangement of castors or wheels
    • 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
    • A47L11/4077—Skirts or splash guards
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • 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)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The scheme discloses a self-moving robot with a correcting device in the field of robots, which comprises a robot main body, wherein the robot main body is provided with an anti-collision structure; the bottom of the robot main body is provided with two power wheels, and resistance sensing structures are arranged on the power wheels; the bottom of the robot main body is provided with a cleaning assembly, the front side of the cleaning assembly is provided with a boundary detection sensor, the rear side of the cleaning assembly is provided with a dust collection assembly, and the bottom of the robot main body is provided with a guide wheel; the top end of the robot main body is provided with a top plate and a control panel, the top plate is provided with a steering transmission assembly, the steering transmission assembly is provided with a steering table, and the outer wall of the steering table is provided with a plurality of data acquisition assemblies; the robot main body is provided with an MCU control unit, the MCU control unit is connected with a data processing module through an electric signal, and the MCU control unit is connected with the cleaning assembly through an electric signal. The robot in the scheme can continuously, accurately and comprehensively clean.

Description

Self-moving robot and correction method thereof
Technical Field
The invention relates to the field of robots, in particular to a self-moving robot and a correction method thereof.
Background
The floor sweeping robot is also called an automatic sweeper, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, can automatically complete floor cleaning work in a room by means of certain artificial intelligence, generally adopts a mode of brush sweeping matched with vacuum dust collection to firstly absorb impurities on the ground into a garbage storage box of the floor sweeping robot so as to complete the function of cleaning the ground, and generally, the robots which complete the cleaning, dust collection and floor wiping work are unified into the floor sweeping robot.
In the prior art, the determination of the traveling direction of the sweeper mainly depends on a gyroscope, an acceleration sensor or other electronic components is realized, but the execution path of the robot in actual use is usually complex, and the task area position needs to be covered comprehensively, in the process of reciprocating execution movement, the position of the robot can cause position deviation due to the reduction of the perception sensitivity of the electronic components or the complex topography in the space, the generated deviation error can be accumulated due to the early positioning error in the subsequent movement process, and finally the path of the robot executing the task cannot play an accurate and comprehensive cleaning effect.
Disclosure of Invention
The invention aims to provide a self-moving robot and a correction method thereof, and aims to solve the problem that the path of a robot for executing a task cannot continuously achieve an accurate and comprehensive cleaning effect.
The self-moving robot with the correction device comprises a robot main body, wherein a power source is arranged on the robot main body, and an anti-collision structure is arranged on the front side of the robot main body in the advancing direction; the two ends of the bottom of the robot main body, which are positioned at the rear side of the advancing direction, are provided with power wheels, and resistance sensing structures are arranged on the two power wheels; cleaning assemblies are arranged at two ends of the front side of the bottom of the robot main body in the advancing direction, a boundary detection sensor is arranged at the front side of each cleaning assembly, a dust collection assembly is arranged at the rear side of each cleaning assembly, and guide wheels are arranged at the front side of the bottom of the robot main body in the advancing direction; the top end of the robot main body is provided with a top plate and a control panel, the top plate is provided with a steering transmission assembly, the steering transmission assembly is provided with a steering table, and the outer wall of the steering table is provided with a plurality of data acquisition assemblies; the robot is characterized in that an MCU control unit is arranged on the robot main body, the MCU control unit is in electric signal connection with a data processing module, and the MCU control unit is in electric signal connection with the cleaning assembly.
The working principle and the beneficial effects of the scheme are as follows: the MCU control unit is used as an integral control element of the robot and used for executing steering of the robot, moving, cleaning and other commands, the anti-collision structure can play a role in protecting the robot in the process of executing a moving task, the robot can buffer some obstacles which cannot be detected and can not be detected and prevent the machine body from being damaged, in addition, the device is provided with a resistance sensing structure on two power wheels, when the robot encounters a fixed obstacle or an unfixed obstacle (such as pet excrement on the ground, clothes, ground mats, food and plastic bags), the current running state of the robot can be known, the resistance of the robot can be increased due to the fact that foreign matters are possibly encountered, the robot can reasonably avoid the obstacles, the robot can be prevented from further damaging the indoor environment due to the fact that the robot pushes the obstacles, and the normal cleaning state of the robot can be ensured.
Furthermore, the resistance sensing structure comprises a hub and an outer fixing ring, the hub is connected with a power source of the robot main body, a plurality of supporting sheets with protruding middle parts are fixedly connected to the outer wall of the hub, a resistance type displacement sensor substrate is arranged at the protruding part of each supporting sheet, and the outer fixing ring is fixedly arranged on the outer side of the outer wall of the hub through the plurality of supporting sheets; at least one stress rod penetrates through the outer fixing ring, the outer end of the stress rod is fixedly connected with the stress ring, a sliding brush is arranged at the inner end of the stress rod, and the substrate of the resistance type displacement sensor is in contact with the sliding brush; the stress ring is sleeved with an outer wheel which can be detachably connected, an elastic supporting part is arranged between the wheel hub and the supporting piece, and the stress rod penetrates through one end of the supporting piece and is fixedly connected with the middle part of the supporting part. The robot is in a traveling state, one side of the robot meets an obstacle, the outer wheel part is blocked to instantaneously travel at the moment, the whole outer wheel instantaneously reduces the rotating speed or stops rotating, but a hub at the center is still in a power transmission rotating state, at the moment, a relative rotating speed difference occurs between the hub and the outer wheel part, a sliding brush fixed on the outer wheel part slides on a resistance type displacement sensor substrate, a sliding distance of the resistance type displacement sensor can be converted into a numerical value signal by the resistance type displacement sensor and the numerical value signal is transmitted to a data processing module.
Furthermore, a strip-shaped through hole is formed in the supporting sheet, and the stress rod penetrates through the strip-shaped through hole in a movable mode.
Further, the data acquisition assembly comprises a plurality of laser scanning range radars and a plurality of image acquisition devices, and the laser scanning range radars and the image acquisition devices are arranged on the outer wall of the steering table on the same side in a one-to-one correspondence mode. The data acquisition assembly is in rotatory state at the in-process of whole executive task, and at rotatory in-process, laser scanning range radar can be continuous measure the distance between peripheral space border position and reference object and the robot, especially after the robot carries out to accomplish and keeps away the barrier process, the position of robot and the skew of predetermined task route take place, measure the distance between current position and a plurality of references through laser scanning range radar, confirm self positional information, be convenient for generate and correct the route.
Furthermore, when the laser scanning range radar obtains a large range value change span, the image acquisition device acquires and compares images of surrounding reference objects. The image acquisition device can be used for acquiring images, for example, reference objects in a space change or the reference objects are shielded by newly-added objects, the reliability of the reference objects can be judged by comparing the current images with the reserved images of the reference objects in a conventional path, and after the reference objects are determined to change, the sensed data of the gyroscope sensor is called to generate a correction route.
Further, turn to transmission assembly and include small motor, small motor fixed connection is equipped with the internal gear on the roof, and small motor's output shaft has the gear, gear and internal gear meshing, turn to platform fixed connection on the internal gear. When the data acquisition assembly is required to rotate, the driving motor on the inner side rotates and drives the gear locked on the output end of the driving motor to rotate.
Further, be connected with shock attenuation buffering subassembly between crashproof structure and the robot main part. The shock absorption and buffering component is used for the whole robot main body to play a shock absorption and buffering role and has a better protection effect.
A correction method of a self-moving robot comprises the following steps: s10, acquiring a range in a task area through a data acquisition component, and generating a task route of the robot for executing a task; s20, determining a plurality of reference points in the route based on the task route, wherein the reference points are used for determining the position of the current robot; s30, receiving resistance direction data from the resistance sensing structure, and avoiding foreign matters; s40, when the non-task route is detected, generating a correction route with a target being a nearest reference point; and S50, the MCU control unit controls the wheel encoder to correct the angle of the line direction.
Further, the generation of the correction route comprises the following steps: s41, acquiring the closest distance between one datum point and a plurality of reference objects as a reference distance; s42, after the foreign matter is avoided, the measured value of the closest distance between the multiple reference objects is obtained and compared with the reference distance to obtain a distance difference value; and S43, obtaining a correction route according to the distance difference and the coordinate information of the nearest reference point.
Further, the resistance azimuth data is obtained from resistance displacement sensors arranged on power wheels on two sides. When the sliding brush is used, the side with larger displacement of the sliding brush is the obstacle side.
The beneficial effect of this scheme: 1. the device is provided with two power wheels, wherein each power wheel is provided with a resistance type displacement sensor substrate and a sliding brush, in the specific implementation process, signals detected by the resistance type displacement sensors in the two groups of power wheels are different, one side of the two groups of power wheels, which is larger in displacement, is an obstacle side, the obstacle avoidance path can be more reasonably planned based on the determination of the obstacle side, and meanwhile, the required moving time for avoiding obstacles is shortened.
2. The traditional robot is easy to have errors by means of a gyroscope sensor, and the position information of the robot after avoidance cannot be accurately known by judgment, so that the device provides a data acquisition assembly, the position of the current robot can be determined from various factors such as images and distances, the position information of a reference point is combined, correction data is obtained, and a method for quickly generating a correction route at any position is provided, so that the execution mode of the robot returning to a task route is simpler, the precision is higher, and the precision of the route in the subsequent task process of the robot is ensured.
Drawings
FIG. 1 is a schematic structural diagram of a self-moving robot according to the present invention;
FIG. 2 is a schematic view of another structure of a self-moving robot according to the present invention;
fig. 3 is a diagram of a movement route of a self-moving robot according to the present invention;
FIG. 4 is a schematic structural view of example 2 of the present invention;
fig. 5 is a schematic structural diagram of a resistance sensing structure in embodiment 1 of the present invention;
FIG. 6 is an enlarged view taken at A in FIG. 5;
FIG. 7 is a flowchart illustrating a calibration method for a self-moving robot according to the present invention;
fig. 8 is a flowchart illustrating a correction route in a correction method for a self-moving robot according to the present invention.
Detailed Description
The following is further detailed by the specific embodiments:
reference numerals in the drawings of the specification include: the robot comprises a robot main body 1, an anti-collision structure 2, an MCU (microprogrammed control Unit) control unit 3, a resistance sensing structure 4, a data processing module 5, a cleaning assembly 6, a boundary detection sensor 7, a guide wheel 8, a steering transmission assembly 9, a control panel 10, a top plate 11, a steering table 12, a data acquisition assembly 13, a shock absorption buffer assembly 14, a task route 15, a datum point 16, an abnormal route 17, a reference object 18, a correction route 19, a dust suction assembly 20, a hub 41, an outer fixing ring 42, a stress ring 43, an outer wheel 44, a stress rod 45, a support sheet 46, a resistance type displacement sensor substrate 47, a sliding brush 48 and an elastic support part 49.
Example 1:
as shown in fig. 1, 2 and 3, the self-moving robot with the correcting device comprises a robot main body 1, wherein a power source is arranged on the robot main body 1, an anti-collision structure 2 is arranged on the front side of the traveling direction of the robot main body 1, and a shock absorption and buffering assembly 14 is connected between the anti-collision structure 2 and the robot main body 1; two ends of the bottom of the robot main body 1, which are positioned at the rear side of the advancing direction, are provided with power wheels, and resistance sensing structures 4 are arranged on the two power wheels; cleaning assemblies 6 are arranged at two ends of the front side of the bottom of the robot main body 1 in the advancing direction, a boundary detection sensor 7 is arranged at the front side of the cleaning assemblies 6, a dust collection assembly 20 is arranged at the rear side of the cleaning assemblies 6, guide wheels 8 are arranged at the front side of the bottom of the robot main body 1 in the advancing direction, and wheel encoders are connected in the guide wheels 8; the top end of the robot main body 1 is provided with a top plate 11 and a control panel 10, the top plate 11 is provided with a steering transmission assembly 9, the steering transmission assembly 9 is provided with a steering table 12, the outer wall of the steering table 12 is provided with a plurality of data acquisition assemblies 13, each data acquisition assembly 13 comprises a plurality of laser scanning distance measuring radars and a plurality of image acquisition devices, the laser scanning distance measuring radars and the image acquisition devices are arranged on the outer wall of the same side of the steering table 12 in a one-to-one correspondence manner, and the image acquisition devices acquire and compare images of a surrounding reference object 18 when the laser scanning distance measuring radars obtain a large distance measuring value change span; the robot main body 1 is provided with an MCU control unit 3, the MCU control unit 3 is connected with a data processing module 5 through an electric signal, and the MCU control unit 3 is connected with a cleaning component 6 through an electric signal.
According to the technical scheme, the self-moving robot with the correcting device comprises the MCU control unit 3 which is used as an integral control element of the robot and used for sending commands of steering, moving, cleaning and the like of the robot, the anti-collision structure 2 is combined with the damping and buffering assembly 14 to play a role in protecting the robot in the process of executing a moving task, the robot can buffer obstacles which cannot be detected when encountering some obstacles and prevent the robot from being damaged, in addition, the device is provided with the resistance sensing structures 4 on the two power wheels, when the robot encounters fixed obstacles or non-fixed obstacles (such as pet excrement, clothes, ground mats, food and plastic bags on the ground), the current abnormal running state of the robot can be known, the resistance of the robot is increased when the robot encounters foreign matters, the robot can reasonably avoid the obstacles pushed by the robot, the indoor environment is prevented from being further damaged, the normal cleaning state of the robot can be ensured, the cleaning assembly 6 can intensively clean dust on the ground where the robot passes through and collect the dust through the dust collection assembly 20, the boundary detection sensor 7 is used for effectively protecting the robot from falling in the comprehensive detection process of the robot and the robot.
Specifically, the robot may retreat successively and then move to the adjacent side of the obstacle, but the moving process is not in a preset cleaning program, automatic equipment (identification) may not be available for the size of the obstacle, and in the process of avoiding the obstacle, the robot needs to perform steering advancing and retreating actions with small amplitude repeatedly and tentatively, so that errors are very easy to occur by means of a gyroscope sensor, and the position information of the robot after the obstacle is avoided accurately.
The data acquisition assembly 13 is in a rotating state in the whole task execution process, in the rotating process, the laser scanning distance measuring radar can continuously measure the peripheral position of the peripheral space and the distance between the reference object 18 and the robot body, especially after the robot completes the obstacle avoidance process, the position of the robot deviates from the preset task route 15, the distance between the current position and a plurality of references is measured through the laser scanning distance measuring radar, the position information of the robot is determined, and the correction route 19 is convenient to generate.
The image acquisition device can be used for acquiring images, for example, the reference object 18 in the space changes or a newly-added object blocks the reference object 18, the reliability of the reference object 18 can be judged by comparing the current image with the reserved image of the reference object 18 in the conventional path, and after the reference object 18 is determined to change, the sensed data of the gyroscope sensor is called to generate the correction route 19.
Wherein cleaning assembly 6 is the cleaning brush, and through the directional rotation of a plurality of cleaning brushes, concentrate the clearance to the dust on the robot process place ground to collect the absorption via dust absorption assembly 20, boundary detection sensor 7 is used for the robot at the in-process that removes, can detect the step in the region, can prevent effectively that the robot from falling at the in-process that advances, plays more comprehensive protection effect.
Example 2:
as shown in fig. 4, the difference from embodiment 1 is that: the steering transmission assembly 9 comprises a small motor, the small motor is fixedly connected to a top plate 11, an internal gear is arranged on the top plate 11, an output shaft of the small motor is connected with a gear 9, the gear 9 is meshed with the internal gear, and a steering table 12 is fixedly connected to the internal gear.
When the data acquisition assembly 13 is required to rotate, the driving motor on the inner side rotates and drives the gear locked on the output end of the driving motor to rotate, and the gear and the rack are meshed and connected, so that the whole steering table 12 is driven to rotate in the motion process, and the accuracy of the scanning distance measurement mode of the data acquisition assembly 13 on the periphery of objects is realized.
Example 3:
as shown in fig. 5, the difference from embodiment 1 is that: the resistance sensing structure 4 comprises a stress rod 45, a hub 41 and an outer fixing ring 42, wherein the hub 41 is connected with a power source of the robot main body 1, a supporting sheet 46 with a convex middle part is fixedly connected to the outer wall of the hub 41, a strip-shaped through hole is formed in the supporting sheet 46, a resistance type displacement sensor substrate 47 is arranged at the convex part of the supporting sheet 46, and the outer fixing ring 42 is fixedly arranged on the outer side of the outer wall of the hub 41 through a plurality of supporting sheets 46; one end of the stress rod 45 penetrates through the outer fixing ring 42, one end penetrating through the outer fixing ring 42 is fixedly connected with the stress ring 43, the other end of the stress rod 45 penetrates through the strip-shaped through hole, a sliding brush 48 is arranged on the outer wall of one end penetrating through the strip-shaped through hole, and the resistance type displacement sensor substrate 47 is in contact with the sliding brush 48; an outer wheel 44 detachably connected with the stress ring 43 is sleeved outside the stress ring, an elastic supporting part 49 is arranged between the hub 41 and the supporting plate 46, and one end of the stress rod 45 penetrating through the supporting plate 46 is fixedly connected with the middle part of the supporting part.
The resistance sensing structure 4 is a part of a power wheel as a whole, a hub 41 in the middle of the wheel body is connected with a power source of the robot main body 1, the outer side of the wheel body is movably arranged, and in the present example, the obstacle-hindering condition of the robot is determined by monitoring the rotation speed difference between an outer wheel 44 and the hub 41 in the advancing process;
specifically, the device is provided with two power wheels, wherein each power wheel is provided with a resistive displacement sensor substrate 47 and a sliding brush 48, in a specific implementation process, the robot is in a traveling state, one side of the robot meets an obstacle, at the moment, the part of the outer wheel 44 is instantly blocked in traveling, the whole outer wheel 44 instantly reduces the rotating speed or stops rotating, but the hub 41 at the center is still in a power transmission rotating state, at the moment, a relative rotating speed difference occurs between the hub 41 and the outer wheel 44, the sliding brush 48 fixed on the part of the outer wheel 44 slides on the resistive displacement sensor substrate 47, the resistive displacement sensor can convert the sliding distance into a numerical signal and transmit the numerical signal to the data processing module 5, because the device is provided with two power wheels, when one side of the robot is obstructed, the signals detected by the resistive displacement sensors in the two power wheels are different, wherein the side with the larger displacement is the obstacle side, and after the obstacle side is determined, the robot can move towards the opposite direction of the obstacle side, so as to determine an avoiding path with the shorter displacement length, realize more reasonable obstacle path shortening, and simultaneously plan for avoiding the movement time needed by avoiding.
The above embodiment adopts the correction method of fig. 7, which includes the following steps:
s10, acquiring the range in a task area through the data acquisition component 13, and generating a task route 15 for the robot to execute a task, wherein the route is generally snakelike, so that the cleaning area can be distributed on the ground of the whole space;
s20, determining a plurality of reference points 16 in the route based on the task route 15, wherein the reference points 16 are used for determining the position of the current robot, and a memory is arranged in the robot, and the coordinate confidence of each reference point 16 and scene information around the reference point 16 are stored in the memory;
s30, receiving resistance direction data from the resistance sensing structure 4, and performing small-amplitude tentative movement to one side in the direction with smaller displacement after determining that the foreign matter causes interference until the foreign matter passes through the edge position of the foreign matter to complete avoidance of the foreign matter;
s40, after avoidance is finished, when the robot is in the non-task route 15, the self position can be determined by adopting an image and a distance measurement mode for a surrounding reference object 18, then the nearest reference point 16 is searched, and a correction route 19 with the target being the nearest reference point 16 is generated based on the information;
the generation of the corrective path 19 in fig. 8 includes the following steps:
s41, acquiring the data of the shortest distance between one datum point 16 and a plurality of reference objects 18 as reference distances;
s42, after the foreign matter is avoided, the measured value of the shortest distance between the robot and the plurality of reference objects 18 is obtained and compared with the reference distance, if the distance between the robot and the reference objects 18 is increased in the moving process of the robot, the robot can move in the opposite direction until the smallest vertical distance between the robot and the reference objects 18 is obtained, and the robot stops moving;
s43, according to the distance difference and the coordinate information of the nearest reference point 16, the data difference is obtained by real-time measurement of the data acquisition component 13, the current position of the robot can be accurately reflected, the sensing scheme is more accurate compared with a simple sensing scheme adopting a gyroscope sensor, and the correction route 19 can be obtained based on the data of the distance difference and the data of the nearest reference point 16.
S50, on the basis of the irregular route 17, obtaining an angle to be steered by combining the current front wheel angle of the robot based on the correction route, then controlling the wheel encoder to correct the angle in the direction of the correction route 19 by the MCU control unit 3, enabling the robot to move, walk on the correction route 19 until the reference point 16 is reached, and continuing to execute the original task route.
In some examples, the acquisition of resistance orientation data is from resistive displacement sensors disposed on the two powered wheels. The side where the displacement of the sliding brush 48 is larger is the obstacle side, and it can be understood that when one side of the robot is obstructed, the signals detected by the resistive displacement sensors in the two groups of power wheels will be different, and thus it can be determined that the side where the displacement is larger is the obstacle side.
In some examples, when the laser scanning range radar obtains a large range value change span, the image acquisition device acquires and compares images of the surrounding reference object 18, it can be understood that the reference object 18 in the space changes or a newly added object blocks the reference object 18, the reliability of the reference object 18 can be determined by comparing the current image with a reserved image of the reference object 18 in a conventional path, and after the reference object 18 is determined to change, sensing data of a gyro sensor of the MCU control unit 3 is called, and the correction route 19 is generated.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, electronic devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor or other programmable flow management electronic device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable flow management electronic device, create means for implementing the functions specified in the flow diagram flow or flows and/or block diagram block or blocks.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
The above are merely examples of the present invention, and common general knowledge of known specific structures and characteristics in the schemes is not described herein. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims (10)

1. The utility model provides a from mobile robot, includes the robot main body, is equipped with the power supply in the robot main body, its characterized in that: an anti-collision structure is arranged on the front side of the advancing direction of the robot main body; the two ends of the bottom of the robot main body, which are positioned at the rear side of the advancing direction, are provided with power wheels, and resistance sensing structures are arranged on the two power wheels; cleaning assemblies are arranged at two ends of the front side of the bottom of the robot main body in the advancing direction, a boundary detection sensor is arranged at the front side of each cleaning assembly, a dust collection assembly is arranged at the rear side of each cleaning assembly, and guide wheels are arranged at the front side of the bottom of the robot main body in the advancing direction; the top end of the robot main body is provided with a top plate and a control panel, the top plate is provided with a steering transmission assembly, the steering transmission assembly is provided with a steering table, and the outer wall of the steering table is provided with a plurality of data acquisition assemblies; the robot is characterized in that an MCU control unit is arranged on the robot main body, the MCU control unit is in electric signal connection with a data processing module, and the MCU control unit is in electric signal connection with the cleaning assembly.
2. A self-moving robot as claimed in claim 1, wherein: the resistance sensing structure comprises a hub and an outer fixing ring, the hub is connected with a power source of the robot main body, a plurality of supporting sheets with protruding middle parts are fixedly connected to the outer wall of the hub, resistance type displacement sensor substrates are arranged at the protruding parts of the supporting sheets, and the outer fixing ring is fixedly arranged on the outer side of the outer wall of the hub through the plurality of supporting sheets; at least one stress rod penetrates through the outer fixing ring, the outer end of the stress rod is fixedly connected with the stress ring, a sliding brush is arranged at the inner end of the stress rod, and the resistance type displacement sensor substrate is in contact with the sliding brush; the stress ring is sleeved with an outer wheel which can be detachably connected, an elastic supporting part is arranged between the wheel hub and the supporting piece, and the stress rod penetrates through one end of the supporting piece and is fixedly connected with the middle part of the supporting part.
3. A self-moving robot as claimed in claim 2, wherein: the supporting sheet is provided with a strip-shaped through hole, and the stress rod movably penetrates through the strip-shaped through hole.
4. A self-moving robot as claimed in claim 3, wherein: the data acquisition assembly comprises a plurality of laser scanning range radars and a plurality of image acquisition devices, and the laser scanning range radars and the image acquisition devices are arranged on the outer wall of the same side of the steering platform in a one-to-one correspondence mode.
5. A self-moving robot as claimed in claim 4, wherein: when the laser scanning range radar obtains a large range value change span, the image acquisition device acquires and compares images of surrounding reference objects.
6. The self-moving robot and the correction method thereof as claimed in claim 5, wherein: the steering transmission assembly comprises a small motor, the small motor is fixedly connected to the top plate, an internal gear is arranged on the top plate, an output shaft of the small motor is connected with a gear, the gear is meshed with the internal gear, and the steering table is fixedly connected to the internal gear.
7. An autonomous robot as recited in claim 6, further comprising: and a damping and buffering component is connected between the anti-collision structure and the robot main body.
8. The correction method for the self-moving robot according to any one of claims 1 to 7, wherein: the method comprises the following steps: s10, acquiring a range in a task area through a data acquisition component, and generating a task route of the robot for executing a task; s20, determining a plurality of reference points in the route based on the task route, wherein the reference points are used for determining the position of the current robot; s30, receiving resistance direction data from the resistance sensing structure, and avoiding foreign matters; s40, when the non-task route is detected, generating a correction route with a target as a nearest reference point; and S50, controlling the wheel encoder to correct the angle of the route correcting direction by the MCU control unit.
9. The correction method for the self-moving robot according to claim 8, wherein: the generation of the correction route comprises the following steps: s41, acquiring the closest distance between one datum point and a plurality of reference objects as a reference distance; s42, after the foreign matter is avoided, the measured value of the closest distance between the multiple reference objects is obtained and compared with the reference distance to obtain a distance difference value; and S43, obtaining a correction route according to the distance difference and the coordinate information of the nearest reference point.
10. The correction method for the self-moving robot according to claim 9, wherein: the resistance azimuth data is obtained from resistance displacement sensors arranged on power wheels on two sides.
CN202211176256.9A 2022-09-26 2022-09-26 Self-moving robot and correction method thereof Active CN115486765B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104644061A (en) * 2013-11-20 2015-05-27 苏州科沃斯商用机器人有限公司 Self-moveable robot with correcting device and correcting method of self-moveable robot
CN205540279U (en) * 2016-04-24 2016-08-31 江西理工大学 Independently car is followed to human body
CN206745315U (en) * 2017-01-12 2017-12-15 苏州爱普电器有限公司 Robot for cleaning floor
CN110123211A (en) * 2019-05-15 2019-08-16 湖南格兰博智能科技有限责任公司 A kind of distance measuring structure of intelligent sweeping machine
US20200130185A1 (en) * 2018-08-22 2020-04-30 Shenzhen Umouse Technology Co., Ltd. Anti-collision detection method for sweeping robots
CN217408717U (en) * 2022-01-25 2022-09-13 追觅创新科技(苏州)有限公司 Auxiliary wheel and cleaning equipment

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104644061A (en) * 2013-11-20 2015-05-27 苏州科沃斯商用机器人有限公司 Self-moveable robot with correcting device and correcting method of self-moveable robot
CN205540279U (en) * 2016-04-24 2016-08-31 江西理工大学 Independently car is followed to human body
CN206745315U (en) * 2017-01-12 2017-12-15 苏州爱普电器有限公司 Robot for cleaning floor
US20200130185A1 (en) * 2018-08-22 2020-04-30 Shenzhen Umouse Technology Co., Ltd. Anti-collision detection method for sweeping robots
CN110123211A (en) * 2019-05-15 2019-08-16 湖南格兰博智能科技有限责任公司 A kind of distance measuring structure of intelligent sweeping machine
CN217408717U (en) * 2022-01-25 2022-09-13 追觅创新科技(苏州)有限公司 Auxiliary wheel and cleaning equipment

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