WO2019104733A1 - 扫地机器人和扫地机器人的避障方法及装置 - Google Patents

扫地机器人和扫地机器人的避障方法及装置 Download PDF

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Publication number
WO2019104733A1
WO2019104733A1 PCT/CN2017/114324 CN2017114324W WO2019104733A1 WO 2019104733 A1 WO2019104733 A1 WO 2019104733A1 CN 2017114324 W CN2017114324 W CN 2017114324W WO 2019104733 A1 WO2019104733 A1 WO 2019104733A1
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WIPO (PCT)
Prior art keywords
distance
cleaning robot
panel
infrared
signal
Prior art date
Application number
PCT/CN2017/114324
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English (en)
French (fr)
Inventor
郑勇
张立新
Original Assignee
深圳市沃特沃德股份有限公司
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Priority to PCT/CN2017/114324 priority Critical patent/WO2019104733A1/zh
Publication of WO2019104733A1 publication Critical patent/WO2019104733A1/zh

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Classifications

    • 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

Definitions

  • the present invention relates to the field of smart device technologies, and in particular, to a method and apparatus for obstacle avoidance of a cleaning robot and a cleaning robot.
  • the prior art generally adopts a method of increasing the front edge of the cleaning robot to solve the problem of the robot stuck, but the method has two shortcomings: On the one hand, the increase of the front edge makes the sweeping robot visually abrupt, affecting On the other hand, many of the furniture's bottom surface adopts a curved gradual design, and its height gradually decreases from the outside to the inside, causing the sweeping robot to directly accumulate in the furniture underground when moving faster.
  • a main object of the present invention is to provide a method and apparatus for obstacle avoidance of a cleaning robot and a cleaning robot, which are intended to prevent a cleaning robot from being caught at the bottom surface of an object.
  • a method for obstacle avoidance of a cleaning robot proposed by the present invention includes:
  • the second distance detection signal is a signal reflected by the first distance detection signal after the bottom surface of the object, and the first distance detection signal is transmitted from a panel of the cleaning robot; [0007] Calculating a distance between a panel of the cleaning robot and a bottom surface of the object according to the intensity of the second distance detecting signal;
  • the obstacle avoidance device of the cleaning robot proposed by the present invention includes:
  • a first acquiring unit configured to receive a second distance detecting signal;
  • the second distance detecting signal is a signal that is reflected by the first distance detecting signal after the bottom surface of the object, and the first distance detecting signal is from the sweeping robot Launch at the panel;
  • a calculating unit configured to calculate a distance between a panel of the cleaning robot and a bottom surface of the object according to the intensity of the second distance detecting signal
  • a first determining unit configured to determine whether a distance between the currently calculated panel and the bottom surface of the object is smaller than a distance between the panel calculated by the previous calculation and the bottom surface of the object;
  • the first determining unit is configured to control the deceleration movement of the cleaning robot when the determination result of the first determining unit is YES.
  • the cleaning robot of the present invention includes a control module and a distance detecting module.
  • the distance detecting module is disposed in an area near the front edge of the top of the cleaning robot panel, and the control module is disposed in the cleaning robot.
  • the control module and the distance detecting module are electrically connected;
  • the distance detecting module is configured to detect a distance detecting signal of the cleaning robot panel and the bottom surface of the object, and send a distance detecting signal of the panel and the bottom surface of the object to the control module;
  • the control module receives the distance detection signal of the distance detecting module to calculate the distance between the panel and the bottom surface of the object, and controls the cleaning robot to decelerate or return in place according to the distance between the panel and the bottom surface of the object.
  • the beneficial effects of the present invention are: when the cleaning robot is in the process of advancement, the distance detecting module sends the distance detecting signal to the control module, and the control module receives the distance detecting of the distance detecting module
  • the signal can be obtained by calculating the distance between the panel of the sweeping robot and the bottom surface of the object.
  • the sweeping robot is controlled to decelerate, so that the speed of the sweeping robot is slower and slower. If the distance between the panel and the bottom surface of the object does not change, the sweeping robot is controlled to drive at a constant speed at the current speed after deceleration.
  • the sweeping robot is controlled to return in place, and the sweeping robot is performing.
  • the bottom surface of the object whose height is gradually lowered from the outside to the inside can effectively prevent the sweeping robot from being stuck at the bottom of the object; the original return can be in place
  • the components of the sweeping robot are provided with buttons, lasers, and cameras, so that the component is higher than the area where the distance sensor is disposed on the panel of the cleaning robot, so the threshold value can be the highest point and the lowest on the panel.
  • the difference in the distance of the points is twice, which further prevents the cleaning robot from being caught at the bottom surface of the object.
  • FIG. 1 is a schematic structural view of a sweeping robot according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram showing the steps of an obstacle avoidance method of a cleaning robot according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram showing steps of an obstacle avoidance method of a cleaning robot according to another embodiment of the present invention.
  • FIG. 4 is a structural block diagram of an obstacle avoidance device of a cleaning robot according to an embodiment of the present invention.
  • FIG. 5 is a structural block diagram of an obstacle avoidance device of a cleaning robot according to another embodiment of the present invention.
  • FIG. 6 is a structural block diagram of an obstacle avoidance device of a cleaning robot according to still another embodiment of the present invention.
  • FIG. 7 is a block diagram showing a second execution unit of an obstacle avoidance device of a cleaning robot according to an embodiment of the present invention.
  • FIG. 8 is a structural block diagram of a calculation unit of an obstacle avoidance device of a cleaning robot according to an embodiment of the present invention.
  • the cleaning robot 1 of the present invention includes a control module and a distance detecting module.
  • the control module is disposed in the panel of the cleaning robot 1 , and may specifically be a microprocessor.
  • the distance detecting module is disposed on the sweeping ground. The area near the front edge of the top of the robot 1 panel, the front edge of which is the edge of the panel in the forward direction of the cleaning robot 1.
  • the control module is electrically connected to the distance detecting module, and the distance detecting module is configured to detect a distance detecting signal of the panel of the cleaning robot 1 and the bottom surface of the object, and specifically the sensor or the module capable of detecting the second distance detecting signal, wherein the object is generally Sofas in the family or furniture such as beds.
  • the distance detecting module sets the distance detecting signal when the cleaning robot 1 is in the forward process ⁇ 0 2019/104733 ⁇ (:17 ⁇ 2017/114324 sent to the above control module, the above control module receives the distance detection signal of the above distance detecting module, and can obtain the distance value between the panel of the cleaning robot 1 and the bottom surface of the object by calculation;
  • the sweeping robot is controlled. 1 is driven at a constant speed at a current speed after deceleration.
  • the cleaning robot 1 When the distance between the panel of the cleaning robot 1 and the bottom surface of the object is less than a certain threshold value, the cleaning robot 1 is controlled to return to the original position, and the cleaning robot 1 is in the process of cleaning, for the height
  • the bottom surface of the object gradually decreasing in the outward direction can effectively prevent the cleaning robot 1 from being stuck on the bottom surface of the object; the original return can be turned in place, and the panel of the cleaning robot 1 is provided with buttons, a laser, a camera, and the like, thereby Making the component higher than the distance sensor on the panel of the cleaning robot 1 Field, the size of the threshold value can be the difference between the specific distance highest and lowest points on the panel twice, can be further prevented at the bottom surface of the cleaning robot 1 in the card object.
  • the distance detecting module includes a first distance detector 2, a second distance detector 3, and a third distance detector 4, wherein the first distance detector 2 is disposed in the area a front end edge, the second distance detector 3 and the third distance detector 4 are disposed in the above region, and are located on both sides of the first distance detector 2; the first distance detector 2, the second distance detector 3, and The connection of the third distance detector 4 is triangular, and by setting three distance detectors, the cleaning robot 1 during the forward cleaning process, when the direction of advancement of the cleaning robot 1 and the contour of the bottom surface of the sofa or the bed are not vertical, It can also quickly detect the distance detection signal of the panel of the cleaning robot 1 and the bottom surface of the object.
  • the interference of the moving object can be eliminated, because the three distance detectors are arranged in a triangle, and when it is not a moving object, only one or two can be detected at this time.
  • the distance detector can detect the distance detection signal, so it can be judged that the object is not a living object, and it is a fixed object such as a sofa or a bed.
  • the distance value calculated by the cleaning robot 1 according to the detected distance detection signal is used as the distance value between the panel of the cleaning robot 1 and the bottom surface of the object; and when the two distance detectors When the distance detection signal can be detected, two distance values are respectively calculated according to the two distance detection signals, and the smaller distance value is selected as the distance value between the panel of the cleaning robot 1 and the bottom surface of the object.
  • the distance detector signal can be detected by the three distance detectors, it means that the possibility of live disturbance is extremely great, and further determination is needed. At this time, the cleaning robot 1 will stop moving forward, by rotating or moving left and right.
  • the three distance detectors can still ⁇ 0 2019/104733 ⁇ (:17 ⁇ 2017/114324 Received the distance detector signal. Specifically, when the distance detectors can acquire the distance detection signal, it is judged to be the active object interference, because it is not the active object, When the sweeping robot 1 rotates or moves left and right, at least one distance detector can detect the distance detecting signal at the same time. When not all the distance detectors can acquire the distance detecting signal, it is determined that the moving object is not interference.
  • the above The three distance detectors are infrared ranging sensors, and the infrared ranging sensors have the advantages of fast response and low cost.
  • the infrared ranging sensor in this embodiment includes a transmitting tube and a receiving tube, and the transmitting tube is configured to emit infrared light (infrared emission signal), and the infrared light is emitted from the transmitting tube and reaches along a transmission path perpendicular to the robot panel.
  • the object On the bottom surface of the object, the object reflects infrared light, and the receiving tube receives the reflected infrared light (infrared reflection signal), and detects the reflection intensity of the reflected infrared reflected signal.
  • the sweeping robot 1 needs to detect the cleaning robot 1 during use. The distance from the panel to the sofa, furniture, etc.
  • the infrared distance measuring sensor transmits an infrared reflection signal to the control module, and the control module filters the intensity of the infrared light reflection, and calculates a distance between the surface of the sweeping robot 1 and the bottom surface of the object by the relationship between the infrared light reflection intensity and the distance.
  • the obstacle avoidance method of the cleaning robot in this embodiment includes:
  • Step 31 Receive a second distance detection signal, where the second distance detection signal is a signal reflected by the first distance detection signal after the bottom surface of the object, and the first distance detection signal is transmitted from a panel of the cleaning robot. ;
  • Step 32 Calculate a distance between a panel of the cleaning robot and a bottom surface of the object according to the intensity of the second distance detection signal;
  • Step 33 determining whether the distance between the currently calculated panel and the bottom surface of the object is smaller than the distance between the panel calculated from the previous calculation and the bottom surface of the object;
  • Step 34 if yes, controlling the deceleration movement of the cleaning robot.
  • the obstacle avoidance method of the cleaning robot in the present embodiment is implemented by the cleaning robot 1 in the above embodiment.
  • the distance detecting module of the panel of the cleaning robot 1 detects the second distance detecting signal of the panel of the cleaning robot 1 and the bottom surface of the object, and detects the second distance. ⁇ 0 2019/104733 ⁇ (:17 ⁇ 2017/114324
  • the measurement signal is sent to the above control module, so that the cleaning robot 1 can acquire the distance detection signal of the panel of the cleaning robot 1 and the bottom surface of the object.
  • step 32 the cleaning robot 1 calculates the distance between the panel of the cleaning robot 1 and the bottom surface of the object according to the intensity of the second distance detection signal of the panel and the bottom surface of the object, so that the cleaning robot 1 can obtain the sweeping ground.
  • the calculation principle of step 32 is that the further the distance of the object ground from the panel of the cleaning robot, the smaller the intensity of the reflected second distance detection signal will be, and vice versa. Therefore, the distance between the sweeping robot panel and the bottom surface of the object can be calculated by the intensity of the second distance detecting signal.
  • the embodiment of the invention is particularly suitable for avoiding an application scenario in which the cleaning robot is stuck to the bottom of the furniture, so that the first distance detection signal is vertically emitted from the panel of the cleaning robot, and the second received signal is received.
  • the distance detection signal is a signal that is reflected downward vertically, so that the distance between the surface of the cleaning robot and the bottom surface of the object can be detected.
  • the panel of the cleaning robot emits the first distance signal at a preset interval, and then receives the second distance detection signal, and the panel and the object of the cleaning robot are calculated once for each signal transmission and reception. The distance from the bottom.
  • step 33 whether the distance between the currently calculated panel and the bottom surface of the object is smaller than the distance between the panel calculated from the previous calculation and the bottom surface of the object indicates the distance of the object above the cleaning robot from the panel in the path direction of the cleaning robot. Closer and closer, it is necessary to control the deceleration of the sweeping robot to avoid the sweeping robot stuck.
  • step 34 when the result of the determination in step 33 is YES, the deceleration movement of the cleaning robot is controlled, so that the speed of the cleaning robot 1 is slower and slower, and the bottom surface of the object whose height is gradually lowered from the outside to the inside can be effectively prevented.
  • the sweeping robot is stuck at the bottom of the object.
  • the method further includes:
  • Step 35 Determine whether the distance between the currently calculated panel and the bottom surface of the object is less than the first distance value
  • Step 36 if yes, controlling the sweeping robot to turn around.
  • the cleaning robot 1 first determines whether the distance between the currently calculated panel and the bottom surface of the object is smaller than the distance between the panel calculated by the previous calculation and the bottom surface of the object, and if so, First, the speed is reduced, and the specific reduced speed range can be preset. Further, after controlling the deceleration motion of the cleaning robot, the distance between the distance between the panel and the bottom surface of the object and the first distance value is also determined. ⁇ 0 2019/104733 ⁇ (:17 ⁇ 2017/114324 relationship, the first distance value is preset. If the distance between the panel and the bottom surface of the object is less than the first distance value, the sweeping robot is controlled to turn around.
  • step 35 comparing the distance value between the panel of the cleaning robot 1 and the bottom surface of the object with the preset first distance value, determining whether the distance value between the panel of the cleaning robot 1 and the bottom surface of the object is less than a preset first distance value. Since the camera and the like are disposed on the panel of the cleaning robot 1 so that the component is higher than the area where the cleaning robot 1 is disposed on the panel of the cleaning robot 1, the first distance value may preferably be the highest point on the panel. The difference in distance from the lowest point is twice.
  • the cleaning robot 1 includes three infrared ranging sensors located at the front edge of the panel, and the three infrared distance measuring sensors are connected in a triangle shape.
  • the first distance detecting signal is an infrared transmitting signal emitted by the transmitting tube of the infrared ranging sensor
  • the second distance detecting signal is an infrared reflected signal received by the receiving tube of the infrared ranging sensor
  • the method includes:
  • Step 371 When one or two of the three infrared ranging sensors acquire an infrared reflected signal, generate an instruction to perform step 32. That is to say, when one or two infrared ranging sensors acquire infrared reflection signals, it is judged that there is no active object interference, and then step 32 can be continued.
  • step 371 during the forward cleaning process, the cleaning robot 1 can quickly detect the panel of the cleaning robot 1 and the bottom surface of the object when the direction of advancement of the cleaning robot 1 and the contour of the bottom surface of the sofa or the bed are not perpendicular.
  • the second distance detection signal can be detected by one or two distance detectors, so that the object can be judged to be a fixed object such as a sofa or a bed.
  • step 32 is performed to calculate the distance between the panel of the cleaning robot 1 and the bottom surface of the object by the received second distance detecting signal.
  • the obstacle avoiding method of the cleaning robot includes three infrared ranging sensors, one disposed in the middle of the front edge of the region, and the other two are located on both sides thereof, three infrared measurements Connected to the sensor line to form a triangle. ⁇ 0 2019/104733 ⁇ (:17 ⁇ 2017/114324
  • the step 32 of calculating the distance between the panel of the cleaning robot and the bottom surface of the object according to the intensity of the second distance detecting signal includes:
  • step 372 when there are three infrared ranging sensors capable of acquiring the infrared reflected signal, the sweeper robot is controlled to stop moving forward, and it is determined whether there is interference of the moving object.
  • step 372 when the distance detector signals can be detected by the three distance detectors, the possibility of interference of the moving object is extremely large, and further determination is needed, thereby controlling the sweeper robot to stop moving forward.
  • the cleaning robot 1 will perform an action of judging whether it is a disturbance of a moving object.
  • the obstacle avoidance method of the cleaning robot in this embodiment performs an action of determining whether the active object interferes with:
  • Step 3720 controlling the sweeping robot 1 to rotate in place or to move left and right;
  • Step 3721 counting the number of infrared ranging sensors that receive the infrared reflected signal
  • Step 3722 When one or two of the three infrared ranging sensors receive the infrared reflected signal, it is determined that the active object is not interfered with;
  • Step 3723 When the three infrared ranging sensors receive the infrared reflected signal, it is determined that the active object interferes.
  • step 3720 the cleaning robot 1 determines whether the three distance detectors can still receive the distance detector signal by means of rotation or left and right motion.
  • step 3722 when all the distance detectors can acquire the distance detection signal, it is determined that the moving object interferes, because when the moving object is not moving, when the cleaning robot 1 rotates or moves left and right, there should be at least one at this time.
  • the distance detector does not detect the distance detection signal.
  • the cleaning robot 1 is controlled to return to the original forward direction, and the cleaning robot 1 is controlled to travel at the normal working speed.
  • step 3723 when not all the three infrared ranging sensors can acquire the distance detecting signal, it is determined that the moving object is not interfered.
  • the ground sweep is controlled.
  • the machine returns to the original forward direction, and the distance value between the panel of the sweeping robot 1 and the bottom surface of the object is obtained according to the distance detection signal, and the speed of the sweeping robot is given to the sweeping robot by the distance thereof, so that the sweeping robot can travel in the original forward direction;
  • the cleaning robot 1 is controlled to return to the original forward direction, and the cleaning robot 1 is controlled to travel at the normal working speed.
  • the step 32 of calculating the distance between the panel of the cleaning robot and the bottom surface of the object according to the intensity of the second distance detection signal includes:
  • Step 321 when two infrared reflected signals are detected, respectively calculating two distance values according to the intensity signals of the two infrared reflected signals;
  • Step 322 Select a smaller distance value as the distance between the panel of the cleaning robot and the bottom surface of the object.
  • the method for avoiding obstacles of the cleaning robot in the embodiment further includes:
  • Step 32 specifically includes: calculating a distance between the panel of the cleaning robot and the bottom surface of the object according to the intensity of the filtered second distance detection signal.
  • the obstacle avoidance device of the cleaning robot in this embodiment includes:
  • the first obtaining unit 10 is configured to receive a second distance detection signal
  • the second distance detection signal is a signal reflected by the first distance detection signal after the bottom surface of the object, and the first distance detection signal is emitted from the panel of the cleaning robot;
  • the calculating unit 20 is configured to calculate, according to the strength of the second distance detecting signal, a distance between a panel of the cleaning robot and a bottom surface of the object;
  • the first determining unit 30 is configured to determine whether the distance between the currently calculated panel and the bottom surface of the object is smaller than the distance between the panel calculated from the previous calculation and the bottom surface of the object;
  • the first determining unit 40 is configured to control the deceleration movement of the cleaning robot when the determination result of the first determining unit 30 is YES.
  • the first acquisition unit 10 acquires a second distance detection signal reflected from the bottom surface of the object, and transmits the second distance detection signal to the control module. ⁇ 0 2019/104733 ⁇ (:17 ⁇ 2017/114324
  • the calculation unit 20 calculates the distance value between the panel of the cleaning robot 1 and the bottom surface of the object according to the second distance detection signal of the panel and the bottom surface of the object, so that the cleaning robot 1 can obtain the surface of the panel and the object of the cleaning robot 1 Distance detection signal.
  • the panel of the cleaning robot emits the first distance signal at a preset interval, and then receives the second distance detection signal, and the panel and the object of the cleaning robot are calculated once for each signal transmission and reception.
  • the distance from the bottom When the distance between the current panel and the bottom surface of the object calculated by the first determining unit 30 is smaller than the distance between the panel and the bottom surface of the object calculated in the previous time, it indicates that the object above the sweeping robot is away from the panel in the path direction of the sweeping robot. The distance is getting closer and closer, so it is necessary to control the speed of the sweeping robot to avoid jamming the sweeping robot.
  • the first determination unit 40 controls the deceleration movement of the cleaning robot 1 so that the speed of the cleaning robot 1 is slower and slower, and the object whose height is gradually lowered from the outer to the inner side.
  • the bottom surface can effectively prevent the sweeping robot from getting stuck at the bottom of the object.
  • the obstacle avoidance device of the cleaning robot in another embodiment further includes:
  • the second determining unit 50 is configured to determine whether the distance between the currently calculated panel and the bottom surface of the object is less than the first distance value.
  • the second determining unit 60 is configured to control the sweeping robot to turn around when the determination result of the second determining unit is YES.
  • the second determining unit 50 compares the distance between the panel of the cleaning robot 1 and the bottom surface of the object with a preset first distance value, and determines whether the distance between the panel of the cleaning robot 1 and the bottom surface of the object is less than a preset number.
  • a distance value since the camera and the like are disposed on the panel of the cleaning robot 1 so that the component is higher than the area where the cleaning robot 1 is disposed on the panel of the cleaning robot 1, the size of the first distance value may preferably be on the panel. The difference between the highest point and the lowest point is twice the distance.
  • the second determining unit 60 controls the sweeping robot 1 to turn around. At this time, since the sweeping robot continues to travel in the same direction, the sweeping robot may be stuck in the opposite direction, so it should be turned in the opposite direction. Effectively prevents jamming at the bottom of the object.
  • the cleaning robot includes three infrared ranging sensors located in a region near the front edge of the panel, and the first distance detecting signal is emitted by the infrared ranging sensor.
  • the obstacle avoidance device of the sweeping robot also includes :
  • a first execution unit configured to: when one or two of the three infrared ranging sensors acquire the infrared reflected signal, generate the performing the second distance detecting signal
  • the intensity of the command calculates the distance between the panel of the cleaning robot and the bottom surface of the object.
  • the cleaning robot 1 can quickly detect the distance detection signal of the panel of the cleaning robot 1 and the bottom surface of the object when the direction of advancement of the cleaning robot 1 and the contour of the bottom surface of the sofa or the bed are not perpendicular during the forward cleaning.
  • the distance detector can detect the distance detection signal, so it can be judged that the object is a fixed object, such as a sofa or a bed.
  • the first executing unit 71 obtains that when one or two infrared ranging sensors can acquire the second distance detecting signal, the distance value between the panel and the bottom surface of the object is calculated according to the second distance detecting signal.
  • the obstacle avoiding device of the cleaning robot includes three infrared ranging sensors, one disposed at a front end edge of the region, and the other two disposed in the region. And on the two sides thereof, the three infrared ranging sensors are connected in a triangle shape; wherein the obstacle avoiding device of the sweeping robot further comprises:
  • the second executing unit 72 is configured to obtain the infrared reflected signal when three infrared ranging sensors are available
  • the sweeper robot is controlled to stop moving forward, and it is judged whether there is interference of the moving object.
  • the second executing unit 72 controls the sweeping robot to stop moving forward and sweep the ground.
  • the robot 1 will perform an action of judging whether it is a disturbance of a moving object.
  • the second executing unit 72 includes: [0094] an executing module 720, configured to control the sweeping robot 1 to rotate in place or to move left and right;
  • a statistics module 721 configured to count the number of infrared ranging sensors that receive the infrared reflected signal;
  • a first determining module 722 configured to use one or two of the three infrared ranging sensors The infrared ranging sensor receives the infrared reflection signal, and determines that it is not a moving object interference;
  • the second determining module 723 is configured to: when all the three infrared ranging sensors receive the infrared reflected signal, ⁇ 0 2019/104733 ⁇ (:17 ⁇ 2017/114324 is the active object interference.
  • the calculating unit 20 includes:
  • the calculation module 210 is configured to calculate two distance values according to the intensity signals of the two infrared reflection signals when the two infrared reflection signals are detected;
  • the selecting module 220 is configured to select a smaller distance value as a distance between the panel of the cleaning robot and the bottom surface of the object.
  • the selection module 220 respectively calculates two distance values according to the two infrared reflection signals, and selects a smaller distance value as a distance value between the panel of the cleaning robot 1 and the bottom surface of the object.
  • the obstacle avoidance device of the cleaning robot in this embodiment further includes: a filtering module, configured to filter the second distance detection signal to obtain a filtered second distance detection signal;
  • the calculating unit 20 is specifically configured to: calculate a distance between a panel of the cleaning robot and a bottom surface of the object according to the intensity of the filtered second distance detecting signal.
  • the distance detecting module sends the distance detecting signal to the control module, and the control module receives the distance detecting signal of the distance detecting module, and passes
  • the calculation can obtain the distance value between the panel of the cleaning robot 1 and the bottom surface of the object; when the distance between the panel of the cleaning robot 1 and the bottom surface of the object is smaller, the cleaning robot 1 is controlled to decelerate, so that the speed of the cleaning robot 1 is slower and slower.
  • the sweeping robot 1 is controlled to travel at a constant speed at the current speed after deceleration.
  • the cleaning robot 1 When the distance between the panel of the cleaning robot 1 and the bottom surface of the object is less than a certain threshold, the cleaning robot 1 is controlled to return to the original position, and the cleaning robot 1 can perform the cleaning process on the bottom surface of the object whose height is gradually decreased from the outside to the inside. Effectively prevent the cleaning robot 1 from being stuck on the bottom surface of the object; the original return can be turned in place, and the panel of the cleaning robot 1 is provided with buttons, a laser and a camera, so that the component is higher than the panel of the cleaning robot 1
  • the area of the distance sensor is set, so the size of the threshold can be the highest point and the lowest point on the panel. ⁇ 0 2019/104733 ⁇ (: 17 ⁇ 2017/114324 twice the distance difference, can further prevent the sweeping robot 1 from getting stuck at the bottom of the object.

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Abstract

本发明提出一种扫地机器人和扫地机器人的避障方法及装置，其中扫地机器人包括控制模块和距离检测模块，所述距离检测模块设置于所述扫地机器人面板顶部的靠近前边缘的区域，所述控制模块设置于所述扫地机器人内。本发明提出的扫地机器人和扫地机器人的避障方法及装置，旨在防止扫地机器人卡在物体的底面处。

Description

\¥0 2019/104733 卩（：17 謂17/114324
扫地机器人和扫地机器人的避障方法及装置 技术领域
[0001] 本发明涉及到智能设备技术领域， 特别是涉及到一种扫地机器人和扫地机器人 的避障方法及装置。
背景技术
[0002] 随着智能化时代的到来， 各种智能设备的产生为人们带来巨大的便利。 扫地机 器人作为一种自动清洁的智能机器人， 可以减轻人们的家务负担。 但是家庭环 境中家具所覆盖的区域成为扫地机器人清扫的难点， 例如床、 沙发等家具都有 着与地面存在 1(^111左右高度差， 而这个高度与目前扫地机的整体高度很接近， 加之现有的扫地机的面板一般中间凸起， 导致在某些情况下扫地机钻进沙发底 下而卡住的现象发生。
[0003] 现有技术一般采用增高扫地机器人前边缘的方法去解决机器人卡住的问题， 但 该方法存在两个不足之处： 一方面是前边缘增高会使得扫地机器人在视觉上很 突兀， 影响美观； 另一方面是很多家具底面采用弧形渐变设计， 其高度由外向 里逐渐降低， 导致扫地机器人在移动速度较快时直接卡住在家具地下。
技术问题
[0004] 本发明的主要目的为提供一种扫地机器人和扫地机器人的避障方法及装置， 旨 在防止扫地机器人卡在物体的底面处。
问题的解决方案
技术解决方案
[0005] 本发明提出的一种扫地机器人的避障方法， 包括：
[0006] 接收第二距离检测信号； 所述第二距离检测信号为所述第一距离检测信号遇物 体底面后反射的信号， 所述第一距离检测信号从扫地机器人的面板处发射； [0007] 根据所述第二距离检测信号的强度计算所述扫地机器人的面板与所述物体底面 的距离；
[0008] 判断当前计算得到的所述面板与所述物体底面的距离是否比前一次计算得到的 \¥0 2019/104733 卩（：17 \2017/114324 所述面板与所述物体底面的距离小， 若是， 则控制扫地机器人减速运动。
[0009] 本发明提出的扫地机器人的避障装置， 包括：
[0010] 第一获取单元， 用于接收第二距离检测信号； 所述第二距离检测信号为所述第 一距离检测信号遇物体底面后反射的信号， 所述第一距离检测信号从扫地机器 人的面板处发射；
[0011] 计算单元， 用于根据所述第二距离检测信号的强度计算所述扫地机器人的面板 与所述物体底面的距离；
[0012] 第一判断单元， 用于判断当前计算得到的所述面板与所述物体底面的距离是否 比前一次计算得到的所述面板与所述物体底面的距离小；
[0013] 第一判定单元， 用于当所述第一判断单元的判断结果为是时， 控制扫地机器人 减速运动。
[0014] 本发明提出的扫地机器人， 包括控制模块和距离检测模块， 所述距离检测模块 设置于所述扫地机器人面板顶部的靠近前边缘的区域， 所述控制模块设置于所 述扫地机器人内， 所述控制模块和所述距离检测模块电连接；
[0015] 所述距离检测模块用于检测扫地机器人面板与物体底面的距离检测信号， 并将 所述面板与物体底面的距离检测信号发送至所述控制模块；
[0016] 所述控制模块接收所述距离检测模块的距离检测信号计算得到所述面板与物体 底面的距离， 并根据所述面板与物体底面的距离控制所述扫地机器人减速行驶 或原地返回。
发明的有益效果
有益效果
[0017] 本发明的有益效果为： 当扫地机器人在前进过程中， 所述距离检测模块并将所 述距离检测信号发送至所述控制模块， 所述控制模块接收所述距离检测模块的 距离检测信号， 通过计算能获取得到扫地机器人面板与物体底面的距离值； 当 扫地机器人面板与物体底面的距离值越小， 则控制扫地机器人进行减速， 使得 扫地机器人的速度越来越慢， 当扫地机器人面板与物体底面的距离值不变， 则 控制扫地机器人以减速后的当前速度匀速行驶。 而当扫地机器人面板与物体底 面的距离值小于某一阈值时， 则控制扫地机器人原地返回， 扫地机器人在进行 \¥0 2019/104733 卩（：17 \2017/114324 清扫的过程中， 对于高度由外向里逐渐降低的物体的底面， 能有效防止扫地机 器人卡在物体的底面处； 原地返回可以为原地调头行驶， 扫地机器人的面板上 会设置有按键、 激光器和摄像头等部件， 从而使得该部件高于扫地机器人的面 板上设置距离传感器的区域， 因此阈值的大小具体可以为面板上的最高点与最 低点的距离差的两倍， 能进一步防止扫地机器人卡在物体的底面处。
对附图的简要说明
附图说明
[0018] 图 1为本发明一实施例中的扫地机器人结构示意图；
[0019] 图 2为本发明一实施例中的扫地机器人的避障方法的步骤示意图；
[0020] 图 3为本发明另一实施例中的扫地机器人的避障方法的步骤示意图；
[0021] 图 4为本发明一实施例中的扫地机器人的避障装置的结构框图；
[0022] 图 5为本发明另一实施例中的扫地机器人的避障装置的结构框图；
[0023] 图 6为本发明又一实施例中的扫地机器人的避障装置的结构框图；
[0024] 图 7为本发明一实施例中的扫地机器人的避障装置的第二执行单元的结构框图
[0025] 图 8为本发明一实施例中的扫地机器人的避障装置的计算单元的结构框图。
[0026] 本发明目的的实现、 功能特点及优点将结合实施例， 参照附图做进一步说明。
实施该发明的最佳实施例
本发明的最佳实施方式
[0027] 应当理解， 此处所描述的具体实施例仅仅用以解释本发明， 并不用于限定本发 明。
[0028] 参照图 1， 本发明提出的扫地机器人 1， 包括控制模块和距离检测模块， 上述控 制模块设置于扫地机器人 1面板内， 其具体可以为微处理器， 上述距离检测模块 设置于上述扫地机器人 1面板顶部的靠近前边缘的区域， 其前边缘为扫地机器人 1前进方向的面板边缘处。 上述控制模块和上述距离检测模块电连接， 上述距离 检测模块用于检测扫地机器人 1面板与物体底面的距离检测信号， 其具体为能检 测第二距离检测信号的传感器或是模块， 其中物体一般为家庭中的沙发或是床 等家具。 当扫地机器人 1在前进过程中， 上述距离检测模块将上述距离检测信号 \¥0 2019/104733 卩（：17 \2017/114324 发送至上述控制模块， 上述控制模块接收上述距离检测模块的距离检测信号， 通过计算能获取得到扫地机器人 1面板与物体底面的距离值； 当扫地机器人 1面 板与物体底面的距离值越小， 则控制扫地机器人 1进行减速， 使得扫地机器人 1 的速度越来越慢， 当扫地机器人 1面板与物体底面的距离值不变， 则控制扫地机 器人 1以减速后的当前速度匀速行驶。 而当扫地机器人 1面板与物体底面的距离 值小于某一阈值时， 则控制扫地机器人 1原地返回， 扫地机器人 1在进行清扫的 过程中， 对于高度由外向里逐渐降低的物体的底面， 能有效防止扫地机器人 1卡 在物体的底面处； 原地返回可以为原地调头行驶， 扫地机器人 1的面板上会设置 有按键、 激光器和摄像头等部件， 从而使得该部件高于扫地机器人 1的面板上设 置距离传感器的区域， 因此阈值的大小具体可以为面板上的最高点与最低点的 距离差的两倍， 能进一步防止扫地机器人 1卡在物体的底面处。
[0029] 本实施例中的扫地机器人 1， 上述距离检测模块包括第一距离检测器 2、 第二距 离检测器 3和第三距离检测器 4, 上述第一距离检测器 2设置于上述区域的前端边 缘， 上述第二距离检测器 3和第三距离检测器 4设置于上述区域内， 且位于第一 距离检测器 2的两侧； 上述第一距离检测器 2、 第二距离检测器 3和第三距离检测 器 4的连线围成三角形， 通过设置三个距离检测器， 使得扫地机器人 1在前进清 扫的过程中， 当扫地机器人 1的前进方向和沙发或者床的底面轮廓不是垂直时， 其也能迅速地检测到扫地机器人 1面板与物体底面的距离检测信号。 此外， 通过 设置连线围成三角形的三个距离检测器， 能排除活动物体的干扰， 因为三个距 离检测器设置成三角形的原因， 在不是活动物体时， 此时只能检测到一个或者 两个距离检测器能检测到距离检测信号， 因此能判断该物体不是活物物体， 其 为沙发或床等固定物体。 而当只有一个距离检测器能检测到距离检测信号时， 则扫地机器人 1根据其检测的距离检测信号计算出的距离值作为扫地机器人 1面 板与物体底面的距离值； 而当两个距离检测器能检测到距离检测信号时， 则根 据两个距离检测信号分别计算出两个距离值， 选择其中较小的距离值作为扫地 机器人 1面板与物体底面的距离值。 当三个距离检测器均能检测到距离检测器信 号时， 则说明为活物干扰的可能性极大， 需要进一步判定， 此时扫地机器人 1将 停止向前运动， 通过旋转或者左右运动的方式来判断三个距离检测器是否还能 \¥0 2019/104733 卩（：17 \2017/114324 接收到距离检测器信号。 具体为当三个距离检测器都能获取距离检测信号时， 判定是活动物体干扰， 因为不是活动物体时， 在扫地机器人 1旋转或者左右运动 时， 同一时间至少有一个距离检测器会检测不到距离检测信号。 当不是三个距 离检测器都能获取距离检测信号， 则判定不是活动物体干扰。 优选地， 上述三 个距离检测器均为红外测距传感器， 红外测距传感器具有响应快， 成本低廉等 优点。
[0030] 本实施例中的红外测距传感器包括发射管和接收管， 上述发射管用于发射红外 光 （红外发射信号） ， 红外光从发射管发射出来， 沿垂直于上述机器人面板的 传输路径到达物体底面， 物体会反射红外光， 上述接收管接收反射回来的红外 光 （红外反射信号） ， 检测反射回来的红外反射信号的反射强度， 扫地机器人 1 在使用过程中， 其需要检测的扫地机器人 1面板到沙发、 家具等物体的距离一般 不超过 20厘米， 而其中红外测距传感器能检测的距离满足该条件。 上述红外测 距传感器会将红外反射信号发送至上述控制模块， 上述控制模块对上述红外光 反射强度进行滤波， 通过红外光反射强度与距离的关系计算得到扫地机器人 1面 板与物体底面的距离值。
[0031] 参照图 2， 本实施例中的扫地机器人的避障方法， 包括：
[0032] 步骤 31， 接收第二距离检测信号； 所述第二距离检测信号为所述第一距离检测 信号遇物体底面后反射的信号， 所述第一距离检测信号从扫地机器人的面板处 发射；
[0033] 步骤 32, 根据所述第二距离检测信号的强度计算所述扫地机器人的面板与所述 物体底面的距离；
[0034] 步骤 33 , 判断当前计算得到的所述面板与所述物体底面的距离是否比前一次计 算得到的所述面板与所述物体底面的距离小；
[0035] 步骤 34， 若是， 则控制扫地机器人减速运动。
[0036] 本实施例中的扫地机器人的避障方法通过上述实施例中的扫地机器人 1进行实 施。
[0037] 在步骤 中， 在扫地机器人 1前进清扫过程中， 扫地机器人 1面板的距离检测模 块检测扫地机器人 1面板与物体底面的第二距离检测信号， 并将上述第二距离检 \¥0 2019/104733 卩（：17 \2017/114324 测信号发送至上述控制模块， 使得扫地机器人 1可以获取扫地机器人 1的面板与 物体底面的距离检测信号。
[0038] 在步骤 32中， 扫地机器人 1根据获取其面板与物体底面的第二距离检测信号的 强度， 进行计算得到扫地机器人 1面板与物体底面的距离值， 从而使得扫地机器 人 1能获取得到扫地机器人 1面板与物体底面的距离。 步骤 32的计算原理在于， 当物体地面离扫地机器人的面板的距离越远， 则反射回来的第二距离检测信号 的强度会越小， 反之则越大。 因而可以通过第二距离检测信号的强度计算扫地 机器人面板与物体底面之间的距离。
[0039] 值得指出的是， 在发明实施例尤其适用于避免扫地机器人卡入到家具的底部的 应用场景， 因此从扫地机器人的面板处垂直发射出第一距离检测信号， 则接收 到的第二距离检测信号为垂直向下反射回来的信号， 因此可检测出扫地机器人 面板和物体底面之间的距离。
[0040] 可以理解的是， 扫地机器人的面板间隔预设时间就会发射出第一距离信号， 然 后接收第二距离检测信号， 每一次信号的发射和接收的均计算一次扫地机器人 的面板与物体底面的距离。 在步骤 33中， 当前计算得到的面板与物体底面的距 离是否比前一次计算得到的面板与物体底面的距离小， 则表明在扫地机器人行 进的路径方向上， 扫地机器人上方的物体离面板的距离越来越近， 因此需控制 扫地机器人减速， 避免扫地机器人卡住。
[0041] 在步骤 34中， 当步骤 33判断结果为是时， 则控制扫地机器人减速运动， 使得扫 地机器人 1的速度越来越慢， 对于高度由外向里逐渐降低的物体的底面， 能有效 防止扫地机器人卡在物体的底面处。
[0042] 参照图 3， 另一实施例中的控制扫地机器人减速运动的步骤 34之后， 还包括：
[0043] 步骤 35 , 判断当前计算得到的面板与物体底面的距离是否小于第一距离值；
[0044] 步骤 36 , 若是， 则控制扫地机器人掉头。
[0045] 本实施例中， 扫地机器人 1先判断当前计算得到的所述面板与所述物体底面的 距离是否比前一次计算得到的所述面板与所述物体底面的距离小， 如果是， 则 首先降速行驶， 具体降低的速度范围可以进行预置。 进一步地， 在控制扫地机 器人减速运动后， 还判断一次面板与物体底面的距离与第一距离值之间的大小 \¥0 2019/104733 卩（：17 \2017/114324 关系， 第一距离值为预先设置， 如果面板与物体底面的距离小于第一距离值， 控制扫地机器人掉头。
[0046] 在步骤 35中， 将扫地机器人 1面板与物体底面的距离值与预设的第一距离值进 行对比， 判断扫地机器人 1面板与物体底面的距离值是否小于预设的第一距离值 ， 由于扫地机器人 1的面板上会设置有摄像头等部件， 从而使得该部件高于扫地 机器人 1的面板上设置扫地机器人 1的区域， 因此第一距离值的大小优选可以为 面板上的最高点与最低点的距离差的两倍。
[0047] 本实施例中的扫地机器人的避障方法， 所述扫地机器人 1包括三个红外测距传 感器， 位于面板前端边缘， 三个红外测距传感器连线围成三角形。 在本实施例 中， 第一距离检测信号为由红外测距传感器的发射管发射的红外发射信号， 第 二距离检测信号为由所述红外测距传感器的接收管接收的红外反射信号；
[0048] 上述根据所述第二距离检测信号的强度计算所述扫地机器人的面板与所述物体 底面的距离的步骤 32之前， 包括：
[0049] 步骤 371， 当三个所述红外测距传感器中的一个或者两个红外测距传感器获取 得到红外反射信号， 则生成执行步骤32的指令。 也就是说， 当有一个或者两个 红外测距传感器获取得到红外反射信号， 都判断没有活动物体干扰， 后续可以 继续执行步骤 32。
[0050] 在步骤 371中， 扫地机器人 1在前进清扫的过程中， 当扫地机器人 1的前进方向 和沙发或者床的底面轮廓不是垂直时， 其也能迅速地检测到扫地机器人 1面板与 物体底面的第二距离检测信号。 此外， 通过设置连线围成三角形的三个距离检 测器， 能排除活动物体的干扰， 因为三个距离检测器设置成三角形的原因， 在 周围环境仅存在固定的物体时， 此时只能检测到一个或者两个距离检测器能检 测到距离检测信号， 因此能判断该物体是固定的物体， 例如沙发或床等。 当有 一个或者两个红外测距传感器能获取第二距离检测信号， 则执行步骤 32, 通过 接收的第二距离检测信号来计算扫地机器人 1面板与物体底面的距离。
[0051] 又一实施例中的扫地机器人的避障方法， 扫地机器人 1包括三个红外测距传感 器， 一个设置于所述区域的前端边缘中间， 另外两个位于其两侧， 三个红外测 距传感器连线围成三角形。 \¥0 2019/104733 卩（：17 \2017/114324
[0052] 上述根据所述第二距离检测信号的强度计算所述扫地机器人的面板与所述物体 底面的距离的步骤 32之前包括：
[0053] 本步骤 372, 当有当有三个红外测距传感器能获取得到红外反射信号， 则控制 扫地机机器人停止向前运动， 并判断是否存在活动物体的干扰。
[0054] 在步骤 372中， 当三个距离检测器均能检测到距离检测器信号时， 则说明为活 动物体的干扰的可能性极大， 需要进一步判定， 因此控制扫地机机器人停止向 前运动， 扫地机器人 1将执行判断是否为活动物体干扰的动作。
[0055] 本实施例中的扫地机器人的避障方法， 执行判断是否为活动物体干扰的动作包 括：
[0056] 步骤 3720， 控制扫地机器人 1原地旋转或者左右运动；
[0057] 步骤 3721， 统计接收到所述红外反射信号的红外测距传感器的数量；
[0058] 步骤 3722, 当三个所述红外测距传感器中的一个或者两个红外测距传感器接收 到红外反射信号， 则判定不是活动物体干扰；
[0059] 步骤 3723 , 当三个红外测距传感器均接收到红外反射信号， 则判定是活动物体 干扰。
[0060] 在步骤 3720中， 扫地机器人 1通过旋转或者左右运动的方式来判断三个距离检 测器是否还能接收到距离检测器信号。
[0061] 在步骤 3722中， 当三个距离检测器都能获取距离检测信号时， 判定是活动物体 干扰， 因为不是活动物体时， 在扫地机器人 1旋转或者左右运动时， 此时应该至 少有一个距离检测器会检测不到距离检测信号， 此时将控制扫地机器人 1回到原 来前进方向， 并且控制扫地机器人 1以正常工作状态的速度进行行驶。
[0062] 在步骤 3723中， 当不是三个红外测距传感器都能获取距离检测信号， 则判定不 是活动物体干扰， 在一个或者两个红外测距传感器能检测到距离检测信号时， 则控制扫地机回到原来前进方向， 且将根据距离检测信号来得出扫地机器人 1面 板与物体底面的距离值， 通过其距离来给予扫地机器人一个速度， 便于扫地机 器人朝原来前进方向进行行驶； 在没有红外测距传感器能检测到距离检测信号 时， 此时将控制扫地机器人 1回到原来前进方向， 并且控制扫地机器人 1以正常 工作状态的速度进行行驶。 \¥0 2019/104733 卩（：17 \2017/114324
[0063] 本实施例中的扫地机器人的避障方法， 上述根据所述第二距离检测信号的强度 计算所述扫地机器人的面板与所述物体底面的距离的步骤32包括：
[0064] 步骤 321， 当检测到两个红外反射信号时， 根据两个红外反射信号的强度信号 分别计算出两个距离值；
[0065] 步骤 322， 选取较小的距离值作为扫地机器人的面板与物体底面的距离。
[0066] 当检测到两个红外反射信号时， 则根据两个红外反射信号分别计算出两个距离 值， 选择其中较小的距离值作为扫地机器人 1面板与物体底面的距离值。
[0067] 本实施例中的扫地机器人的避障方法， 上述根据所述第二距离检测信号的强度 计算所述扫地机器人的面板与所述物体底面的距离的步骤32之前， 还包括：
[0068] 对第二距离检测信号进行滤波， 得到滤波后的第二距离检测信号；
[0069] 步骤 32具体包括： 根据滤波后的第二距离检测信号的强度计算扫地机器人的面 板与物体底面的距离。
[0070] 对获取的红外测距传感器检测到的红外反射信号进行滤波， 从而剔除干扰， 使 得根据红外光反射信号计算得到的面板与物体底面的距离值更加准确， 根据红 外反射信号的红外线反射强度与距离的关系， 计算得到面板与物体底面的距离 值。
[0071] 参照图 4， 本实施例中的扫地机器人的避障装置， 包括：
[0072] 第一获取单元 10， 用于接收第二距离检测信号；
[0073] 所述第二距离检测信号为所述第一距离检测信号遇物体底面后反射的信号， 所 述第一距离检测信号从扫地机器人的面板处发射；
[0074] 计算单元 20, 用于根据所述第二距离检测信号的强度计算所述扫地机器人的面 板与所述物体底面的距离；
[0075] 第一判断单元 30, 用于判断当前计算得到的所述面板与所述物体底面的距离是 否比前一次计算得到的所述面板与所述物体底面的距离小；
[0076] 第一判定单元 40， 用于当第一判断单元 30的判断结果为是时， 控制扫地机器人 减速运动。
[0077] 在扫地机器人 1前进清扫过程中， 第一获取单元 10获取物体底面反射回来的第 二距离检测信号， 并将上述第二距离检测信号发送至上述控制模块。 \¥0 2019/104733 卩（：17 \2017/114324
[0078] 计算单元 20根据获取其面板与物体底面的第二距离检测信号， 进行计算得到扫 地机器人 1面板与物体底面的距离值， 从而使得扫地机器人 1能获取得到扫地机 器人 1的面板与物体底面的距离检测信号。
[0079] 可以理解的是， 扫地机器人的面板间隔预设时间就会发射出第一距离信号， 然 后接收第二距离检测信号， 每一次信号的发射和接收的均计算一次扫地机器人 的面板与物体底面的距离。 当第一判断单元 30计算得到的当前面板与物体底面 的距离是否比前一次计算得到的面板与物体底面的距离小， 则表明在扫地机器 人行进的路径方向上， 扫地机器人上方的物体离面板的距离越来越近， 因此需 控制扫地机器人减速， 避免扫地机器人卡住。
[0080] 第一判定单元 40当判定第一判断单元 30的判断结果为是时， 则控制扫地机器人 1减速运动， 使得扫地机器人 1的速度越来越慢， 对于高度由外向里逐渐降低的 物体的底面， 能有效防止扫地机器人卡在物体的底面处。
[0081] 参照图 5 , 另一实施例中的扫地机器人的避障装置， 还包括：
[0082] 第二判断单元 50, 用于判断当前计算得到的面板与物体底面的距离是否小于第 一距离值。
[0083] 第二判定单元 60， 用于当第二判断单元的判断结果为是时， 则控制扫地机器人 掉头。
[0084] 优选的， 第二判断单元 50将扫地机器人 1面板与物体底面的距离值与预设的第 一距离值进行对比， 判断扫地机器人 1面板与物体底面的距离值是否小于预设的 第一距离值， 由于扫地机器人 1的面板上会设置有摄像头等部件， 从而使得该部 件高于扫地机器人 1的面板上设置扫地机器人 1的区域， 因此第一距离值的大小 优选可以为面板上的最高点与最低点的距离差的两倍。
[0085] 第二判定单元 60控制扫地机器人 1掉头， 这个时候由于已经非常接近物体了， 扫地机器人若继续沿同方向行驶有可能会出现被卡住的情况， 因此应转为反方 向行驶， 能有效防止卡在物体的底面处。
[0086] 本实施例中的扫地机器人的避障装置， 扫地机器人包括三个位于面板靠近前边 缘的区域的红外测距传感器， 所述第一距离检测信号为由所述红外测距传感器 的发射管发射的红外发射信号， 所述第二距离检测信号为由所述红外测距传感 \¥0 2019/104733 卩（：17 \2017/114324 器的接收管接收的红外反射信号， 三个所述红外测距传感器连线围成三角形； [0087] 其中扫地机器人的避障装置还包括：
[0088] 第一执行单元， 用于当三个所述红外测距传感器中的一个或者两个红外测距传 感器获取得到所述红外反射信号， 则生成执行所述根据所述第二距离检测信号 的强度计算所述扫地机器人的面板与所述物体底面的距离的指令。
[0089] 扫地机器人 1在前进清扫的过程中， 当扫地机器人 1的前进方向和沙发或者床的 底面轮廓不是垂直时， 其也能迅速地检测到扫地机器人 1面板与物体底面的距离 检测信号。 此外， 通过设置连线围成三角形的三个距离检测器， 能排除活动物 体的干扰， 因为三个距离检测器设置成三角形的原因， 在不是活动物体时， 此 时只能检测到一个或者两个距离检测器能检测到距离检测信号， 因此能判断该 物体是固定物体， 例如沙发或床等。 第一执行单元 71获取当有一个或者两个红 外测距传感器能获取第二距离检测信号， 则根据第二距离检测信号计算得到面 板与物体底面的距离值。
[0090] 参照图 6， 又一实施例中的扫地机器人的避障装置， 扫地机器人 1包括三个红外 测距传感器， 一个设置于所述区域的前端边缘， 另外两个设置于所述区域内， 且位于其两侧， 三个红外测距传感器连线围成三角形； 其中扫地机器人的避障 装置还包括：
[0091] 第二执行单元 72, 用于当有三个红外测距传感器能获取得到所述红外反射信号
， 则控制扫地机机器人停止向前运动， 并判断是否存在活动物体的干扰。
[0092] 当三个距离检测器均能检测到距离检测器信号时， 则说明为活动物体干扰的可 能性极大， 需要进一步判定， 第二执行单元 72控制扫地机机器人停止向前运动 ， 扫地机器人 1将执行判断是否为活动物体干扰的动作。
[0093] 参照图 7， 本实施例中的扫地机器人的避障装置， 所述第二执行单元 72包括： [0094] 执行模块 720， 用于控制扫地机器人 1原地旋转或者左右运动；
[0095] 统计模块 721， 用于统计接收到所述红外反射信号的红外测距传感器的数量； [0096] 第一判定模块 722, 用于当三个所述红外测距传感器中的一个或者两个红外测 距传感器接收到红外反射信号， 则判定不是活动物体干扰；
[0097] 第二判定模块 723， 用于当三个红外测距传感器均接收到红外反射信号， 则判 \¥0 2019/104733 卩（：17 \2017/114324 定是活动物体干扰。
[0098] 参照图 9 , 本实施例中的扫地机器人的避障装置， 计算单元 20包括：
[0099] 计算模块 210, 用于当检测到两个红外反射信号时， 根据两个红外反射信号的 强度信号分别计算出两个距离值；
[0100] 选取模块 220, 用于选取较小的距离值作为所述扫地机器人的面板与物体底面 的距离。
[0101] 当检测到两个红外反射信号时， 选取模块 220根据两个红外反射信号分别计算 出两个距离值， 选择其中较小的距离值作为扫地机器人 1面板与物体底面的距离 值。
[0102] 本实施例中的扫地机器人的避障装置， 还包括： 滤波模块， 用于对所述第二距 离检测信号进行滤波， 得到滤波后的第二距离检测信号；
[0103] 计算单元 20具体用于： 根据所述滤波后的第二距离检测信号的强度计算所述扫 地机器人的面板与所述物体底面的距离。
[0104] 对获取的红外测距传感器检测到的红外反射信号进行滤波， 从而剔除干扰， 使 得根据红外反射信号计算得到的面板与物体底面的距离值更加准确， 根据红外 反射信号的红外线反射强度与距离的关系， 计算得到面板与物体底面的距离值
[0105] 综上所述， 当扫地机器人 1在前进过程中， 距离检测模块并将所述距离检测信 号发送至所述控制模块， 所述控制模块接收所述距离检测模块的距离检测信号 ， 通过计算能获取得到扫地机器人 1面板与物体底面的距离值； 当扫地机器人 1 面板与物体底面的距离值越小， 则控制扫地机器人 1进行减速， 使得扫地机器人 1的速度越来越慢， 当扫地机器人 1面板与物体底面的距离值不变， 则控制扫地 机器人 1以减速后的当前速度匀速行驶。 而当扫地机器人 1面板与物体底面的距 离值小于某一阈值时， 则控制扫地机器人 1原地返回， 扫地机器人 1在进行清扫 的过程中， 对于高度由外向里逐渐降低的物体的底面， 能有效防止扫地机器人 1 卡在物体的底面处； 原地返回可以为原地调头行驶， 扫地机器人 1的面板上会设 置有按键、 激光器和摄像头等部件， 从而使得该部件高于扫地机器人 1的面板上 设置距离传感器的区域， 因此阈值的大小具体可以为面板上的最高点与最低点 \¥0 2019/104733 卩（：17 \2017/114324 的距离差的两倍， 能进一步防止扫地机器人 1卡在物体的底面处。
[0106] 以上所述仅为本发明的优选实施例， 并非因此限制本发明的专利范围， 凡是利 用本发明说明书及附图内容所作的等效结构或等效流程变换， 或直接或间接运 用在其他相关的技术领域， 均同理包括在本发明的专利保护范围内。

Claims

\¥0 2019/104733 卩（：17 \2017/114324 权利要求书
[权利要求 1] 一种扫地机器人的避障方法， 其特征在于， 包括：
接收第二距离检测信号； 所述第二距离检测信号为所述第一距离检测 信号遇物体底面后反射的信号， 所述第一距离检测信号从扫地机器人 的面板处发射；
根据所述第二距离检测信号的强度计算所述扫地机器人的面板与所述 物体底面的距离；
判断当前计算得到的所述面板与所述物体底面的距离是否比前一次计 算得到的所述面板与所述物体底面的距离小， 若是， 则控制扫地机器 人减速运动。
[权利要求 2] 根据权利要求 1所述的扫地机器人的避障方法， 其特征在于， 所述控 制扫地机器人减速运动之后， 还包括：
判断当前计算得到的所述面板与所述物体底面的距离是否小于第一距 离值， 若是， 则控制扫地机器人掉头。
[权利要求 3] 根据权利要求 1所述的扫地机器人的避障方法， 其特征在于， 所述扫 地机器人包括三个位于面板靠近前边缘的区域的红外测距传感器， 所 述第一距离检测信号为由所述红外测距传感器的发射管发射的红外发 射信号， 所述第二距离检测信号为由所述红外测距传感器的接收管接 收的红外反射信号， 三个所述红外测距传感器连线围成三角形； 所述根据所述第二距离检测信号的强度计算所述扫地机器人的面板与 所述物体底面的距离之前， 包括：
当三个所述红外测距传感器中的一个或者两个红外测距传感器获取得 到所述红外反射信号， 则生成所述根据所述第二距离检测信号的强度 计算所述扫地机器人的面板与所述物体底面的距离的指令； 当有三个红外测距传感器能获取得到所述红外反射信号， 则控制扫地 机机器人停止向前运动， 并判断是否存在活动物体的干扰。
[权利要求 4] 根据权利要求 3所述的扫地机器人的避障方法， 其特征在于， 所述判 断是否存在活动物体的干扰包括： \¥0 2019/104733 卩（：17 \2017/114324 控制扫地机器人原地旋转或者左右运动；
统计接收到所述红外反射信号的红外测距传感器的数量；
当三个所述红外测距传感器中的一个或者两个红外测距传感器接收到 红外反射信号， 则判定不是活动物体干扰；
当三个红外测距传感器均接收到红外反射信号， 则判定是活动物体干 扰。
[权利要求 5] 根据权利要求 3所述的扫地机器人的避障方法， 其特征在于， 所述根 据所述第二距离检测信号的强度计算所述扫地机器人的面板与所述物 体底面的距离， 包括：
当检测到两个红外反射信号时， 根据两个红外反射信号的强度信号分 别计算出两个距离值；
选取较小的距离值作为所述扫地机器人的面板与物体底面的距离。
[权利要求 6] 根据权利要求 1所述的扫地机器人的避障方法， 其特征在于， 所述根 据所述第二距离检测信号的强度计算所述扫地机器人的面板与所述物 体底面的距离之前， 还包括：
对所述第二距离检测信号进行滤波， 得到滤波后的第二距离检测信号
所述根据所述第二距离检测信号的强度计算所述扫地机器人的面板与 所述物体底面的距离包括：
根据所述滤波后的第二距离检测信号的强度计算所述扫地机器人的面 板与所述物体底面的距离。
[权利要求 7] 一种扫地机器人的避障装置， 其特征在于， 包括：
第一获取单元， 用于接收第二距离检测信号； 所述第二距离检测信号 为所述第一距离检测信号遇物体底面后反射的信号， 所述第一距离检 测信号从扫地机器人的面板处发射；
计算单元， 用于根据所述第二距离检测信号的强度计算所述扫地机器 人的面板与所述物体底面的距离；
第一判断单元， 用于判断当前计算得到的所述面板与所述物体底面的 \¥0 2019/104733 卩（：17 \2017/114324 距离是否比前一次计算得到的所述面板与所述物体底面的距离小； 第一判定单元， 用于当所述第一判断单元的判断结果为是时， 控制扫 地机器人减速运动。
[权利要求 8] 根据权利要求 7所述的扫地机器人的避障装置， 其特征在于， 还包括 第二判断单元， 用于判断当前计算得到的所述面板与所述物体底面的 距离是否小于第一距离值；
第二判定单元， 用于当所述第二判断单元的判断结果为是时， 则控制 扫地机器人掉头。
[权利要求 9] 根据权利要求 7所述的扫地机器人的避障装置， 其特征在于， 所述扫 地机器人包括三个位于面板靠近前边缘的区域的红外测距传感器， 所 述第一距离检测信号为由所述红外测距传感器的发射管发射的红外发 射信号， 所述第二距离检测信号为由所述红外测距传感器的接收管接 收的红外反射信号， 三个所述红外测距传感器连线围成三角形； 所述扫地机器人的避障装置还包括：
第一执行单元， 用于当三个所述红外测距传感器中的一个或者两个红 外测距传感器获取得到所述红外反射信号， 则生成执行所述根据所述 第二距离检测信号的强度计算所述扫地机器人的面板与所述物体底面 的距离的指令；
第二执行单元， 用于当有三个红外测距传感器能获取得到所述红外反 射信号， 则控制扫地机机器人停止向前运动， 并判断是否存在活动物 体的干扰。
[权利要求 10] 根据权利要求 9所述的扫地机器人的避障装置， 其特征在于， 所述第
Figure imgf000018_0001
执行模块， 用于控制扫地机器人原地旋转或者左右运动；
统计模块， 用于统计接收到所述红外反射信号的红外测距传感器的数
Figure imgf000018_0002
第一判定模块， 用于当三个所述红外测距传感器中的一个或者两个红 \¥0 2019/104733 卩（：17 \2017/114324 外测距传感器接收到红外反射信号， 则判定不是活动物体干扰； 第二判定模块， 用于当三个红外测距传感器均接收到红外反射信号， 则判定是活动物体干扰。
[权利要求 11] 根据权利要求 9所述的扫地机器人的避障装置， 其特征在于， 所述计 算单元包括：
计算模块， 用于当检测到两个红外反射信号时， 根据两个红外反射信 号的强度信号分别计算出两个距离值；
选取模块， 用于选取较小的距离值作为所述扫地机器人的面板与物体 底面的距离。
[权利要求 12] 根据权利要求 7所述的扫地机器人的避障装置， 其特征在于， 还包括
: 滤波模块， 用于对所述第二距离检测信号进行滤波， 得到滤波后的 第二距离检测信号；
所述计算单元具体用于： 根据所述滤波后的第二距离检测信号的强度 计算所述扫地机器人的面板与所述物体底面的距离。
[权利要求 13] 一种扫地机器人， 其特征在于， 包括控制模块和距离检测模块， 所述 距离检测模块设置于所述扫地机器人面板顶部的靠近前边缘的区域， 所述控制模块设置于所述扫地机器人内， 所述控制模块和所述距离检 测模块电连接；
所述距离检测模块用于检测扫地机器人面板与物体底面的距离检测信 号， 并将所述面板与物体底面的距离检测信号发送至所述控制模块； 所述控制模块接收所述距离检测模块的距离检测信号计算得到所述面 板与物体底面的距离， 并根据所述面板与物体底面的距离控制所述扫 地机器人减速行驶或原地返回。
[权利要求 14] 根据权利要求 13所述的扫地机器人， 其特征在于， 所述距离检测模块 包括第一距离检测器、 第二距离检测器和第三距离检测器， 所述第一 距离检测器设置于所述区域的前端边缘， 所述第二距离检测器和第三 距离检测器设置于所述区域内， 且位于第一距离检测器的两侧； 所述第一距离检测器、 第二距离检测器和第三距离检测器的连线围成 \¥0 2019/104733 卩（：17 \2017/114324 三角形。
[权利要求 15] 根据权利要求 14所述的扫地机器人， 其特征在于， 所述第一距离检测 器、 第二距离检测器和第三距离检测器均为红外测距传感器。
[权利要求 16] 根据权利要求 15所述的扫地机器人， 其特征在于， 所述红外测距传感 器包括发射管和接收管， 所述发射用于发射垂直所述机器人面板的红 外发射信号至物体底面， 所述接收管接收红外发射信号照射到物体底 面后反射的红外反射信号。
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