WO2020108550A1 - 机器人及其行走控制方法 - Google Patents
机器人及其行走控制方法 Download PDFInfo
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- WO2020108550A1 WO2020108550A1 PCT/CN2019/121456 CN2019121456W WO2020108550A1 WO 2020108550 A1 WO2020108550 A1 WO 2020108550A1 CN 2019121456 W CN2019121456 W CN 2019121456W WO 2020108550 A1 WO2020108550 A1 WO 2020108550A1
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- obstacle
- guide surface
- rotating member
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- sensing element
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000013459 approach Methods 0.000 claims abstract description 14
- 230000005284 excitation Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 description 82
- 210000004907 gland Anatomy 0.000 description 10
- 230000006872 improvement Effects 0.000 description 10
- 239000000306 component Substances 0.000 description 7
- 239000000428 dust Substances 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005281 excited state Effects 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Definitions
- the invention belongs to the technical field of intelligent equipment, and relates to a robot and a walking control method thereof.
- robots are more and more widely used in industry and life, such as cleaning robots such as intelligent sweepers, intelligent vacuum cleaners, and intelligent purifiers, or garden robots such as intelligent lawn mowers, intelligent watering machines, or intelligent accompany Service robots such as computers, intelligent companion readers, and intelligent service machines, which integrate self-charging, walking, and operating technologies, are currently the most challenging hot research topics in the field of robots.
- Existing robots usually have an obstacle detection device on their front side, so as to avoid obstacles during walking, or adjust the walking direction in time after collision with obstacles; however, the obstacle detection device cannot detect the robot The obstacle above will cause the robot to often get stuck under the obstacle during walking.
- the obstacle detection device usually includes a sensor that cooperates with the bumper.
- the bumper When the cleaning robot walks, when the bumper encounters an obstacle in front, the bumper will move backward and trigger the sensor To identify obstacles ahead.
- the bumper cannot be hit and the cleaning robot will not detect these obstacles, and once the cleaning robot moves They will be stuck after they reach the bottom of the furniture, so that the cleaning robot cannot continue to move to other positions for cleaning operations.
- the object of the present invention is to provide a robot and its walking control method, so as to at least solve the problem that the robot cannot detect the obstacle above.
- an embodiment of the present invention provides a robot including a main body capable of walking back and forth, a controller, and an obstacle detection device at least partially housed in the main body.
- a sensing element which is arranged in the main body and connected to the controller, and when the sensing element is activated, the sensing element sends an obstacle signal to the controller;
- a rotating member which is assembled on the main body so as to rotate around a pivot axis, the rotating member includes an obstacle contact portion and a trigger portion, and the obstacle contact portion is at least partially higher than the upper surface of the main body;
- the rotating member rotates about the pivot axis in the first clockwise direction from the initial position to the excited position, and the trigger portion approaches the sensing element to cause The sensing element is activated.
- the rotating member further includes a limiting portion, the limiting portion resists the main body to prevent the rotating member from the initial position around the pivot axis along the second The direction of the hour hand rotates, wherein the direction of the second hour hand and the direction of the first hour hand are opposite to each other.
- the obstacle contact portion includes a top end that is higher than the upper surface of the main body, a first guide surface extending forward and downward from the top end, and a rearward and downward extension extending from the top end
- a second guide surface when any one of the first guide surface and the second guide surface collides with an obstacle, the rotating member can move around the pivot axis in the first hour direction The initial position rotates toward the excitation position.
- the second guide surface is provided as an arc surface, and its arc center is located in front of the pivot axis.
- the obstacle contact portion further includes a third guide surface, the third guide surface is connected to the rear end of the second guide surface;
- the main body has an opening, and part of the obstacle contact portion protrudes from the upper surface of the main body through the opening from below to upward;
- the third guide surface and the first guide surface are both set as arc surfaces whose arc centers are on the pivot axis, and when the rotating member rotates in the first clockwise direction, the third The guide surface always fits the rear edge of the opening, and the first guide surface always fits the front edge of the opening.
- the obstacle contact portion further includes a third guide surface, the third guide surface is connected to the front end of the first guide surface;
- the main body has an opening, and part of the obstacle contact portion protrudes from the upper surface of the main body through the opening from below to upward;
- the third guide surface and the second guide surface are both set as arc surfaces whose arc centers are on the pivot axis, and when the rotating member rotates in the first clockwise direction, the second The guide surface always fits the rear edge of the opening, and the third guide surface always fits the front edge of the opening.
- the pivot axis extends horizontally perpendicular to the front-rear direction, and when the pivot member rotates in the first clockwise direction from the initial position, the pivot member located above the pivot shaft The part has a component of motion from back to front, and the part of the rotating member located below the pivot axis has a component of motion from front to back.
- the main body includes a body and a casing movably covering the body, the sensing element is disposed on the body, and the rotating member is assembled on the body On the case; when the case moves backward relative to the fuselage, the rotating member moves backward synchronously with the case, and the trigger part approaches the sensing element to cause the sensing The element is activated.
- an embodiment of the present invention provides a walking control method for a robot.
- the walking control method includes the following steps:
- step S31 judging whether the first obstacle signal is received again during the retreating process of step S3; if yes, reset the counted back distance and return to step S3; if not, proceed to step S4;
- the robot includes a main body, a sensing element, a controller connected to the sensing element, and a rotating member that is pivotally assembled on the main body
- the piece includes an obstacle contact portion and a trigger portion, the obstacle contact portion is at least partially higher than the upper surface of the main body;
- the step S2 is specifically: when the obstacle contact part collides with an obstacle, the rotating member rotates from the initial position to the excitation position in the first clockwise direction around the pivot axis, and the trigger part approaches the The sensing element is activated so that the sensing element is activated, and the controller receives the first obstacle signal from the sensing unit.
- the step S4 further includes:
- step S41 Determine whether the second obstacle signal is received during the rotation in step S4; if it is, turn back and return to step S3; if not, proceed to step S5.
- step S2 the method further includes:
- the beneficial effects of the present invention are: on the one hand, obstacles above the robot can be detected; at the same time, the robot can be prevented from getting stuck under the obstacle, for example, when in bed , Furniture such as sofas, tables, chairs, etc. have a gap equal to or slightly higher than that of the robot, once the rotating member collides with these furniture, the sensing element can send an obstacle signal to the controller, thereby The controller is controlled to control the movement of the robot, and the rotation of the rotating member causes the robot to withdraw from under the furniture.
- FIG. 1 is a schematic perspective view of a cleaning robot according to an embodiment of the invention
- FIG. 2 is a three-dimensional structural diagram of a rotating member according to an embodiment of the invention.
- FIG. 3 is a side view of a partial cross-sectional structure of a cleaning robot according to an embodiment of the present invention, which shows the state when the rotating member is not collided;
- FIG. 4 is a partial enlarged view of area A in FIG. 3;
- FIG. 5 is an enlarged view of the rotating member in FIG. 4;
- FIG. 6 is a side view of a partial cross-sectional structure of a cleaning robot according to an embodiment of the present invention, which shows the state when the rotating member is collided;
- FIG. 7 is a partial enlarged view of area A in FIG. 6;
- FIG. 8 is a flowchart of a walking control method of a cleaning robot according to an embodiment of the present invention.
- FIG. 9 is a schematic perspective structural view of a rotating member according to another embodiment of the invention.
- FIG. 10 is a side view of a partial cross-sectional structure of a cleaning robot according to another embodiment of the present invention, which shows the state when the rotating member is not collided;
- Fig. 11 is a partially enlarged view of area A'in Fig. 10;
- Fig. 12 is an enlarged view of the rotating member in Fig. 11.
- the present invention provides a robot.
- the specific example of the robot is a cleaning robot 100.
- the robot of the present invention will be described below with the cleaning robot 100.
- the robot of the present invention may also be implemented in other specific forms, such as intelligent lawn mowers, intelligent watering machines and other garden robots, or intelligent accompanying machines and intelligent accompanying readers , Intelligent service machines and other service robots.
- the cleaning robot 100 includes a main body, a controller, and an obstacle detection device.
- the main body includes a fuselage 20 and a casing 10 covering the fuselage 20.
- the body 20 includes a host device for performing cleaning operations, a battery pack for providing power required for the entire cleaning robot 100, and a walking device 21 for carrying the entire body for walking.
- the host device includes an air flow generating unit, a dust collection unit, and a cleaning unit.
- the airflow generating unit is used to drive air to flow along a preset airway channel, which may be specifically set as a fan; the dust collection unit is at least used to filter and collect foreign objects entrained by the airflow entering the airway channel, which It may specifically include a dust cup, a filter, a separator, etc.; the cleaning unit may act on the surface to be cleaned in the cleaning area to complete the cleaning of the surface to be cleaned, which may specifically include any one of a roller brush, a side brush, a flat suction, etc. Suction head or brush head.
- the walking device 21 can drive the cleaning robot 100 to walk along the surface to be cleaned, which is specifically configured as a roller.
- the walking of the cleaning robot 100 includes advancing in the direction v, retreating in the opposite direction of the direction v, and turning around the vertical longitudinal axis.
- the direction of the direction v is defined as "front”, and the direction of the opposite direction of the direction v is defined as “rear”; the front-rear direction and the vertical direction are horizontal
- the direction is defined as the left-right direction.
- the direction v is perpendicular to the rotation axis of the walking device 21.
- the casing 10 includes a top cover 11 located above the fuselage 20 and a side panel 12 extending downward from the peripheral edges of the top cover 11.
- the side panel 12 is located around the fuselage 20 and surrounds the fuselage.
- the casing 10 may define at least a part of the surface appearance of the cleaning robot 100 and be used to protect the fuselage 20 from the core components/units/structures on the fuselage 20 from being damaged.
- the cleaning robot 100 is a D-shaped robot, that is, the chassis 10 has a generally D-shaped structure when viewed from above, and the front wall of the side plate 12 located in front of the fuselage 20 is a straight plate perpendicular to the direction v The rear wall of the side panel 12 located behind the fuselage 20 is curved.
- the controller is configured to control the overall operation of the cleaning robot 100, which may specifically control the airflow generating unit, the cleaning unit, the walking unit 21, and the like.
- the controller can generate a control signal to enable the battery pack to turn on or off the power supply circuit of each electric drive component of the cleaning robot 100, thereby controlling the power on or off of the cleaning robot 100;
- the controller can A control signal is generated to enable the airflow generating unit, the cleaning unit, and the walking unit 21 to control the cleaning robot 100 to perform cleaning operations, and so on.
- the controller is provided on the main body, specifically on the body 20.
- the controller may also be set on a remote terminal device.
- the implementation manner of the controller may be various types of processors including at least one chip on which an integrated circuit is formed, and the number of the processors may be set to one or more.
- the obstacle detection device includes a sensing element 40 and a rotating member 30.
- the sensing element 40 is disposed in the main body and connected to the controller. When the sensing element 40 is activated, the sensing element 40 sends an obstacle signal to the controller, and then the controller can receive The obstacle signal controls the cleaning robot 100.
- the rotating member 30 is rotatably assembled on the main body about a pivot axis Z, and has an initial position and an excitation position.
- the pivot axis Z extends in the left-right direction, that is, extends in the horizontal direction of the vertical direction v.
- the rotating member 30 When the rotating member 30 is in the initial position, the sensing element 60 is not excited; and when the rotating member 30 is in the exciting position, the rotating element 30 causes the sensing element 60 to be excited. It can be understood that, under normal circumstances, for example, when the rotating member 30 does not collide with the obstacle, the rotating member 30 is located at the initial position, and once the rotating member 30 collides with the obstacle (including the rotating member 30 and the obstacle) When the obstacle remains in contact, the rotating member 30 can be located at the excitation position.
- the rotating member 30 includes an obstacle contact portion 33 and a trigger portion 32.
- the obstacle contact portion 33 is at least partially raised above the upper surface of the main body to enable the obstacle contact portion 33 to make collision contact with the obstacle .
- the rotating member 30 can rotate about the pivot axis Z in the first clockwise direction from the initial position to the excitation position, so that the trigger portion 32 approaches the sensing element 40, so that the sensing element 40 is excited.
- the cleaning robot 100 of this embodiment can detect obstacles above the cleaning robot 100 by arranging the obstacle detection device and the controller and optimizing the structure of the obstacle detection device, which can avoid the cleaning robot 100 moves under the obstacle and gets stuck, for example, when there is a gap equal to or slightly higher than the cleaning robot 100 under furniture such as beds, sofas, tables, chairs, etc., once the rotating member 30 collides with these furniture, the sensing element 40 can send an obstacle signal to the controller, so that the controller controls the movement of the cleaning robot 100, and the rotating member 30 rotates, which facilitates the cleaning robot 100 to exit under the furniture.
- the obstacle contact portion 33 includes a top end 33e that is higher than the upper surface of the main body, a first guide surface 33c extending forward and downward from the top end 33e, and a second guide extending backward and downward from the top end 33e ⁇ 33b.
- the rotating member 30 can rotate about the pivot axis Z in the first clockwise direction from the initial position to the excited position, and the top end 33e reaches the main body The distance of the upper surface decreases, and the trigger 32 approaches the sensing element 40 so that the sensing element 40 is excited.
- the rotating member 30 can move around the pivot axis Z along the first Rotate in the direction of an hour, for example, in this embodiment, the rotating member 30 rotates from the initial position shown in FIGS. 3 and 4 to the excited position shown in FIGS. 6 and 7, and the distance between the top end 33e and the upper surface of the main body decreases.
- the cleaning robot 100 is prevented from being caught by obstacles, and at the same time, the trigger part 32 approaches the sensing element 40 so that the sensing element 40 is excited, and the sensing element 40 sends an obstacle signal to the controller; and when the cleaning robot 100 is in the direction v
- the rotating member 30 can also rotate about the pivot axis Z in the first clockwise direction under the impulse of the obstacle. In the example, the rotating member 30 is rotated from the initial position shown in FIGS. 3 and 4 to the excited position shown in FIGS.
- the trigger part 32 approaches the sensing element 40 so that the sensing element 40 is excited, and the sensing element 40 sends an obstacle signal to the controller.
- the rotating member 30 rotates around the pivot axis Z in the first clockwise direction, the rotating member 30 rotates from the initial position shown in FIGS. 3 and 4 to the excitation position shown in FIGS. 6 and 7
- the trigger part 32 can activate the sensing element 40. That is, as long as the rotating member 30 rotates slightly, the sensing element 40 can be excited, thereby enhancing the sensitivity of the obstacle detection device. Further, as the rotation amplitude of the rotating member 30 from the initial position to the excited position increases, the trigger portion 32 may continue to keep the sensing element 40 in an excited state.
- the sensing element 40 is configured as a micro switch, which includes a switch body 42 and a contact piece 41 movably disposed on the switch body 42.
- the rotating member 30 rotates about the pivot axis Z in the first clockwise direction
- the trigger part 32 approaches and contacts the contact piece 41, so that the micro switch is activated, and the switch body 42 sends an obstacle signal to the controller.
- the contact between the trigger part 32 and the contact piece 41 becomes closer, so that the micro switch remains in an excited state.
- the sensing element 40 can be set to any device that can be excited according to the change in the distance between the trigger 32 and the sensing element 40, for example, in other feasible embodiments, the sensing element 40 can also be set to a distance sensor.
- the rotating member 30 includes a limiting portion 35 that can resist the main body to prevent the rotating member 30 from rotating in the second clockwise direction at the initial position, wherein, the The second hour hand direction is opposite to the first hour hand direction.
- the stopper 35 abuts the main body To prevent the rotating member 30 from rotating in the second clockwise direction.
- the rotating member 30 is pivotally assembled on the casing 10.
- the cabinet 10 further includes a mounting seat 14, a mounting channel, and a gland 13.
- the mounting seat 14 is located at a position below the front portion of the top cover 11, and it can be integrally formed with the top cover 11 or assembled separately after assembly.
- the mounting channel is formed above the mounting base 14 and communicates with the upper external space of the cleaning robot 100 so that, during assembly, the rotating member 30 can be assembled on the mounting base 14 from the top to the bottom through the mounting channel.
- the rotating member 30 includes a pivot portion 31 that defines a pivot axis Z.
- the pivot portion 31 can fit within the accommodating cavity 140 of the mounting seat 14, and the left and right ends of the pivot portion 31 are assembled with the mounting seat 14 connection.
- the gland 13 has an opening adapted to the obstacle contact portion 33. After the rotating member 30 is assembled on the casing 10, the gland 13 is snapped on the installation channel from top to bottom, and it can be connected with the top cover 11 and The mounting seat 14 is mated and fixed, and part of the obstacle contact portion 33 (in this embodiment, the top end 33e, the second guide surface 33b, and part of the first guide surface 33c) protrudes upward through the opening.
- the upper surface of the pressure cover 13 and the upper surface of the top cover 11 are disposed substantially coplanar.
- the rotating member 30 is configured as an integrally formed rod-shaped structure extending longitudinally along the pivot axis Z
- the pivot portion 31 is configured as a cylindrical long straight rod, the axis of which defines the pivot axis Z
- the obstacle contact portion 33 is pivoted
- the rotating portion 31 extends outward perpendicular to the pivot axis Z
- the limit portion 35 is formed at the edge of the obstacle contact portion 33 and extends in a hook-shaped structure away from the pivot axis Z, which can resist the lower surface of the gland 13
- the limiting portions 35 are arranged as three spaced apart along the pivot axis Z
- the trigger portion 32 is away from the pivot portion 31
- the direction of the pivot axis Z extends in a plate structure. In the assembled state, the tip of the trigger portion 32 extends beyond the mounting base 14 to the sensing element 40.
- the first clockwise direction is counterclockwise from the perspective of the views in FIGS. 3-7.
- the rotating member 30 rotates from the initial position around the pivot axis Z to the excitation position, it is located at the pivot axis Z
- the upper part of the rotating member 30 (including the obstacle contact portion 33) has a component of motion from rear to front, and the part of the rotating member 30 below the pivot axis Z (including the extended end of the trigger portion 32) has a component of motion from front to rear.
- the direction of the first hour hand may also be opposite to this embodiment.
- top end 33e is located above or behind the pivot axis Z.
- the top end 33e and the pivot axis Z are not located on the same longitudinal section perpendicular to the front-rear direction.
- the top end 33e is located The upper front of the pivot axis Z.
- the first guide surface 33c may be set as an inclined plane or arc surface extending forward and downward from the top end 33e; the second guide surface 33b may be set as an inclined plane extending rearward and downward from the top end 33e Or curved surface.
- both the first guide surface 33c and the second guide surface 33b are provided as arc surfaces.
- the obstacle contact portion 33 also has a third guide surface 33a provided as an arc surface.
- the third guide surface 33a is transitionally connected to the rear end of the second guide surface 33b through the arc surface 33d, that is, the first guide surface 33c, the second guide surface 33b, and the third guide surface 33a are oriented forward Arranged in turn.
- the arc centers of the first guide surface 33c and the third guide surface 33a are located on the pivot axis Z.
- the first guide surface 33c is in contact with the opening front edge 131 of the gland 13, and the third guide surface 33a and the gland 13 The rear edge 132 of the opening fits. In this way, when the rotating member 30 rotates around the pivot axis Z, external dust can be prevented from entering the cleaning robot 100 from the opening with the rotation of the rotating member 30.
- the arc center Z1 of the second guide surface 33b is not located on the pivot axis Z, and the arc center Z1 of the second guide surface 33b is located in front of the pivot axis Z, so that when the second guide surface 33b collides with an obstacle, the rotating member 30 There is no tendency to rotate about the pivot axis Z in the second clockwise direction, and when the external force of the collision is the same, the torque of the force on the second guide surface 33b is greater, thereby making the cleaning robot 100 easier The ground exits from under the obstacle and avoids being stuck.
- the third guide surface may be connected to the first The front end of the guide surface, that is, the third guide surface, the first guide surface, and the second guide surface are sequentially arranged from front to back; the third guide surface, the second guide surface The arc centers are all located on the pivot axis Z, the third guide surface is attached to the front edge of the opening of the gland, and the second guide surface is attached to the rear edge of the opening of the gland, so that the same It is possible to avoid ash ingress; and, the arc center of the first guide surface is not on or on the pivot axis Z.
- the arc centers of the two guide surfaces at the two ends are located on the pivot axis Z and are in close contact with the gland to avoid ash leakage, while the guide surface in the middle
- the center of the arc may or may not be on the pivot axis Z.
- first guide surface 33c, the second guide surface 33b, and the third guide surface 33a are all outer surfaces of the collision contact portion 33 away from the pivot axis Z; in this embodiment, the front end 331 and the rear of the collision contact portion 33 The end 332 is always located below the gland 13.
- a rib 34 is provided on the inner surface of the collision contact portion 33 to ensure the strength of the collision prevention portion 33 against collision.
- the micro switch is specifically provided on the body 20.
- the chassis 10 is movably covered on the fuselage 20 by a flexible structure such as a spring.
- a flexible structure such as a spring.
- the cleaning robot 100 advances in the direction v and the front wall of the side panel 12 collides with an obstacle, the chassis 10 can move backward relative to the fuselage 20 as a whole
- the rotating member 30 moves backward synchronously with it
- the trigger 32 approaches and contacts the contact piece 41 so that the micro switch is activated
- the switch body 42 sends an obstacle signal to the controller.
- the cleaning robot 100 can realize the sensing of the upper obstacle and the front obstacle at the same time through the cooperation of the same rotating member 30 and the sensing element 40 without increasing the cost of the device, and can also avoid when the upper obstacle is encountered Stuck situation occurs.
- the micro switch is assembled on the fuselage 20 in an oblique shape, and the contact piece 41 extends obliquely rearward and upward from its connecting end to its free end.
- the cleaning robot 100 also has a memory configured to store data and programs for the operation of the cleaning robot 100 temporarily or non-temporarily.
- the memory is at least configured to store a preset map about the cleaning area.
- the preset map can be generated by drawing, scanning, downloading, etc.
- the implementation of the memory can be flash memory type, hard disk type, random access memory (RAM), static random access memory (SRAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), At least one or more of storage media such as read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. are programmed.
- RAM random access memory
- SRAM static random access memory
- ROM read only memory
- EEPROM electrically erasable programmable read only memory
- At least one or more of storage media such as read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. are programmed.
- PROM read-only memory
- magnetic disk magnetic disk
- optical disk etc.
- the type of the storage is not limited to this, it may also be a web storage that performs a storage function on the Internet.
- the controller is connected to the memory, and is used to access and control the memory, for example: read the map stored in the memory, control the memory to update the map, and so on.
- the present invention also provides a robot walking control method.
- the walking control method of the present invention specifically includes steps:
- step S31 judging whether the first obstacle signal is received again during the retreating process of step S3; if yes, reset the counted back distance and return to step S3; if not, proceed to step S4;
- the walking control method will be described in conjunction with the cleaning robot 100 shown in FIGS. 1 to 7:
- Step S1 the controller controls the cleaning robot 100 to follow the planned path
- step S2 the first guide surface 33c or the front wall of the side plate 12 collides with an obstacle, and the rotating member 30 rotates about the pivot axis Z in the first clockwise direction from the initial position to the excited position.
- the trigger part 32 approaches and contacts the contact piece 41, so that the micro switch is activated, the switch body 42 sends a first obstacle signal to the controller, and the controller receives the first from the switch body 42 Obstacle signal
- Step S3 the controller controls the cleaning robot 100 to move backward by a preset distance S;
- Step S31 in the process that the controller controls the cleaning robot 100 to retreat by a preset distance S, it is determined whether the first obstacle signal is received; if the distance S1 has been retreated (S1 ⁇ S), the controller again switches from the switch The first obstacle signal is received at the body 42.
- the cleaning robot 100 passes the obstacle point due to inertia when it encounters an obstacle for the first time, for example, it penetrates under the obstacle
- the robot controls the cleaning robot 100 to continue to retreat the preset distance S, that is, reset the counted retreat distance S1, and return to step S3; otherwise, directly enter step S5;
- Step S4 the controller controls the cleaning robot 100 to rotate by a preset angle ⁇ around the vertical longitudinal axis;
- step S5 after the action of rotating the preset angle ⁇ is completed, the controller controls the cleaning robot 100 to continue to advance.
- step S4 further includes:
- step S41 Determine whether the second obstacle signal is received during the rotation in step S4; if it is, turn back and return to step S3; if not, proceed to step S5.
- the controller controls the cleaning robot 100 to rotate and reset, that is, the rotation angle ⁇ , and then returns to step S3 (that is, controls cleaning The robot 100 moves backward by a preset distance S); otherwise, it proceeds to step S5.
- the method further includes: S21: mark obstacle points on the map, update the map and store the updated map.
- the controller may mark the obstacle point A on the map of the cleaning robot 100 according to the coordinates, thereby updating the map of the cleaning robot 100, and may also control the memory Store the updated map.
- the cleaning robot 100 and its walking control method of this embodiment have the following beneficial effects:
- the cleaning robot 100 can realize the sensing of the upper obstacle and the front obstacle at the same time through the cooperation of the same rotating member 30 and the sensing element 40, and can also avoid the upper obstacle Occurrence of stuck situation;
- FIG. 12 shows another preferred embodiment of the present invention, which provides a robot and its walking control method
- the difference between this embodiment and embodiment 1 is: the position and shape of the trigger, the sense Arrangement angle of measuring element.
- the difference will be described in detail below, and other parts/structures and beneficial effects that are the same as those in Embodiment 1 will not be described in detail.
- the trigger portion 32' of the rotating member 30' is connected to the obstacle detection portion 33', and extends from the front end 331' of the obstacle detection portion 33' in an arc shape to the front of the sensing element 40'.
- the sensing element 40' is provided as a micro switch
- the micro switch includes a switch body 42' and a contact piece 41' movably connected to the switch body 42', wherein the switch body 42' Arranged vertically in the front of the fuselage 20', the contact piece 41' extends obliquely upward and forward from its connecting end to its free end.
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Abstract
一种机器人及其行走控制方法,机器人包括能够前后行走的主体、控制器及至少部分收容于主体的遇障检测装置,遇障检测装置包括:感测元件(40),其设置于主体内并连接控制器,当感测元件(40)被激发时,感测元件(40)向控制器发送障碍信号;转动件(30),其绕枢转轴(Z)转动地组装在主体上,转动件(30)包括障碍接触部(33)和触发部(32),障碍接触部(33)至少部分高出主体上表面;其中,当障碍接触部(33)与障碍物发生碰撞时,转动件(30)绕枢转轴(Z)沿第一时针方向由初始位置向激发位置转动,触发部(32)趋近感测元件(40)以使感测元件被激发,从而能检测上方障碍物,又避免卡死在障碍物下方。
Description
本发明属于智能设备技术领域,涉及一种机器人及其行走控制方法。
随着科技的进步,机器人在工业、生活中应用越来越广泛,例如智能扫地机、智能吸尘器、智能净化器等清洁机器人,或者智能割草机、智能浇花机等园林机器人,或者智能陪护机、智能伴读机、智能服务机等服务机器人,其融合了自行充电、行走、作业的技术,是目前机器人领域最具挑战性的热门研发课题。
现有的机器人,通常在其前侧设置遇障检测装置,以便于在行走过程中避开障碍物,或者在与障碍物发生碰撞后及时调整行走方向;但是,遇障检测装置无法检测到机器人上方的障碍物,会使得机器人在行走过程中经常出现卡死在障碍物下方的情况发生。
以清洁机器人为例,其遇障检测装置通常包括与保险杠配合的感测器,在清洁机器人行走过程中,当保险杠碰到前方障碍物时,保险杠会向后活动并触发感测器,以识别出前方有障碍。但是,当床、沙发、桌、椅等家具下方具有与清洁机器人等高或略高的间隙时,因保险杠无法被碰撞到而致使清洁机器人不会检测到这些障碍物,并且一旦清洁机器人运动至这些家具下方后就会被卡住,使得清洁机器人无法继续运动至其他位置进行清洁作业。
发明内容
本发明的目的在于提供一种机器人及其行走控制方法,以至少解决现有技术中机器人无法检测到上方障碍物的问题。
为实现上述发明目的之一,本发明一实施例提供了一种机器人,包括能够前后行走的主体、控制器及至少部分收容于所述主体的遇障检测装置,所述遇 障检测装置包括:
感测元件,其设置于所述主体内并连接所述控制器,当所述感测元件被激发时,所述感测元件向所述控制器发送障碍信号;
转动件,其绕枢转轴转动地组装在所述主体上,所述转动件包括障碍接触部和触发部,所述障碍接触部至少部分高出所述主体上表面;
其中,当所述障碍接触部与障碍物发生碰撞时,所述转动件绕所述枢转轴沿第一时针方向由初始位置向激发位置转动,所述触发部趋近所述感应元件以使所述感测元件被激发。
作为本发明一实施例的进一步改进,所述转动件还包括限位部,所述限位部与所述主体相抵持以阻止所述转动件由所述初始位置绕所述枢转轴沿第二时针方向转动,其中,所述第二时针方向与所述第一时针方向互为反方向。
作为本发明一实施例的进一步改进,所述障碍接触部包括高出所述主体上表面的顶端、自所述顶端向前下方延伸的第一导引面以及自所述顶端向后下方延伸的第二导引面,当所述第一引导面和所述第二引导面的任意一个与障碍物发生碰撞时,所述转动件均能够绕所述枢转轴沿所述第一时针方向由所述初始位置向所述激发位置转动。
作为本发明一实施例的进一步改进,所述第二引导面设置为弧面,且其弧心位于所述枢转轴的前方。
作为本发明一实施例的进一步改进,所述障碍接触部还包括第三引导面,所述第三引导面连接于所述第二引导面的后端;
所述主体具有开口,部分所述障碍接触部通过所述开口自下而上凸伸出所述主体上表面;
其中,所述第三引导面和所述第一引导面均设置为弧心位于所述枢转轴上的弧面,且当所述转动件沿所述第一时针方向转动时,所述第三引导面始终与所述开口的后边缘相贴合,所述第一引导面始终与所述开口的前边缘相贴合。
作为本发明一实施例的进一步改进,所述障碍接触部还包括第三引导面,所述第三引导面连接于所述第一引导面的前端;
所述主体具有开口,部分所述障碍接触部通过所述开口自下而上凸伸出所述主体上表面;
其中,所述第三引导面和所述第二引导面均设置为弧心位于所述枢转轴上的弧面,且当所述转动件沿所述第一时针方向转动时,所述第二引导面始终与所述开口的后边缘相贴合,所述第三引导面始终与所述开口的前边缘相贴合。
作为本发明一实施例的进一步改进,所述枢转轴垂直于前后方向水平延伸,当所述转动件由初始位置沿所述第一时针方向转动时,位于所述枢转轴上方的所述转动件部分具有由后向前的运动分量,位于所述枢转轴下方的所述转动件部分具有由前向后的运动分量。
作为本发明一实施例的进一步改进,所述主体包括机身以及活动地覆盖于所述机身外的机壳,所述感测元件设置于所述机身上,所述转动件组装于所述机壳上;当所述机壳相对所述机身向后运动时,所述转动件随所述机壳同步向后运动,且所述触发部趋近所述感应元件以使所述感应元件被激发。
为实现上述发明目的之一,本发明一实施例提供了一种机器人的行走控制方法,所述行走控制方法包括步骤:
S1,按照规划路径前进;
S2,接收到第一障碍信号;
S3,后退预设距离;
S31,判断步骤S3的后退过程中是否再次接收到第一障碍信号;若是,则重置已统计的后退距离,并返回步骤S3;若否,则进入步骤S4;
S4,旋转预设角度;
S5,前进。
作为本发明一实施例的进一步改进,所述机器人包含主体、感测元件、与所述感测元件相连接的控制器及绕枢转轴转动地组装在所述主体上的转动件,所述转动件包括障碍接触部和触发部,所述障碍接触部至少部分高出所述主体上表面;
所述步骤S2具体为:当所述障碍接触部与障碍物发生碰撞时,所述转动件 绕所述枢转轴沿第一时针方向由初始位置向激发位置转动,所述触发部趋近所述感应元件以使所述感测元件被激发,所述控制器从所述感测单元接收到第一障碍信号。
作为本发明一实施例的进一步改进,所述步骤S4还包括:
S41,判断步骤S4的旋转过程中是否接收到第二障碍信号;若是,则回转复位,并返回步骤S3;若否,则进入步骤S5。
作为本发明一实施例的进一步改进,所述步骤S2之后还包括:
S21:在地图上标记障碍点,更新地图并存储更新后的地图。
与现有技术相比,本发明的有益效果是:一方面,可以检测到所述机器人上方的障碍物;同时,还可以避免所述机器人运动到障碍物下方而被卡住,例如,当床、沙发、桌、椅等家具下方具有与所述机器人等高或略高的间隙时,所述转动件一旦与这些家具发生碰撞,所述感应元件即可向所述控制器发送障碍信号,从而使所述控制器控制所述机器人运动,所述转动件的转动,使所述机器人从这些家具下方退出来。
图1是本发明一实施例的清洁机器人的立体示意图;
图2是本发明一实施例的转动件的立体结构示意图;
图3是本发明一实施例的清洁机器人具有局部剖视结构的侧视图,其中示出了转动件未被碰撞时的状态;
图4是图3中A区的局部放大图;
图5是图4中转动件的放大图;
图6是本发明一实施例的清洁机器人具有局部剖视结构的侧视图,其中示出了转动件被碰撞时的状态;
图7是图6中A区的局部放大图;
图8是本发明一实施例的清洁机器人的行走控制方法的流程图;
图9是本发明另一实施例的转动件的立体结构示意图;
图10是本发明另一实施例的清洁机器人具有局部剖视结构的侧视图,其中示出了转动件未被碰撞时的状态;
图11是图10中A’区的局部放大图;
图12是图11中转动件的放大图。
以下将结合附图所示的具体实施方式对本发明进行详细描述。但这些实施方式并不限制本发明,本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本发明的保护范围内。
实施例1
本发明提供了一种机器人,参图1至图7所示的一优选实施例,该实施例中,所述机器人具体示例为清洁机器人100。下面以清洁机器人100对本发明的机器人进行介绍,当然,本发明的机器人还可以以其他具体形式进行实现,例如智能割草机、智能浇花机等园林机器人,或者智能陪护机、智能伴读机、智能服务机等服务机器人。
具体参图1至图7,清洁机器人100包括主体、控制器和遇障检测装置。
其中,所述主体包括机身20以及罩在机身20上的机壳10。
机身20包括用于完成清洁作业的主机装置、用于提供清洁机器人100整体所需电力的电池包以及用于携载整体进行行走的行走装置21。所述主机装置包括气流发生单元、集尘单元和清洁单元。所述气流发生单元用于驱动空气沿预设气路通道流动,其可具体设置为风机;所述集尘单元至少用于过滤并收集进入所述气路通道中的气流所裹挟的异物,其可具体包括尘杯、过滤器和分离器等;所述清洁单元可作用于清洁区域的待清洁面以完成对待清洁面的清洁,其具体可包括滚刷、边刷、扁吸等任意一种吸头或刷头。行走装置21可带动清洁机器人100整体沿待清洁面行走,其具体设置为滚轮。在本实施例中,清洁机器人100的行走包括沿方向v前进、沿方向v的反方向后退以及绕竖直纵轴转向。
为清楚地表达本申请内所描述的位置与方向,将方向v的指向定义为“前”,将方向v的反方向的指向定义为“后”;将前后方向和竖直方向相垂直的水平方向定义为左右方向。在本实施例中,方向v与行走装置21的转轴相垂直。
机壳10包括位于机身20上方的顶盖11和从顶盖11的四周边缘向下延伸的侧板12,侧板12位于机身20的四周并包围机身。机壳10可以至少限定出清洁机器人100的部分表面外观,并用于保护机身20,以避免机身20上的核心部件/单元/结构受到污损。在本实施例中,清洁机器人100为D形机器人,也即机壳10从俯视角度上看大致呈D形结构,位于机身20前方的侧板12前壁为与方向v相垂直的平直板结构,位于机身20后方的侧板12后壁呈弧形。
所述控制器被配置为控制清洁机器人100的整体作业,其具体可以控制所述气流发生单元、所述清洁单元、行走单元21等。例如,所述控制器能够生成控制信号以使所述电池包向清洁机器人100的各个电力驱动部件的供电电路的导通或断开,进而控制清洁机器人100的开机或关机;所述控制器能够生成控制信号以使所述气流发生单元、所述清洁单元、行走单元21启动,进而控制清洁机器人100执行清洁作业,等等。
在本实施例中,所述控制器设置于所述主体上,具体设置于机身20上。当然在其它可行实施例中,所述控制器还可以设置于远程终端设备上。
所述控制器的实现方式可以是包括其上形成有集成电路的至少一个芯片的各种类型的处理器,所述处理器的数目可以设置为一个或多个。
参图3,所述遇障检测装置包括感测元件40和转动件30。
其中,感测元件40设置于所述主体内并连接所述控制器,当感测元件40被激发时,感测元件40向所述控制器发送障碍信号,进而所述控制器可根据接收到的障碍信号控制清洁机器人100。
转动件30绕枢转轴Z转动地组装在所述主体上,其具有初始位置和激发位置,枢转轴Z沿左右方向延伸,也即沿垂直方向v的水平方向延伸。当 转动件30位于所述初始位置时,感测元件60不被激发;而当转动件30位于所述激发位置时,转动件30使感测元件60被激发。可以理解的是,清洁机器人100在正常情况下,例如转动件30未与障碍物发生碰撞时,转动件30位于所述初始位置,而一旦转动件30与障碍物发生碰撞(包括转动件30与障碍物保持在接触状态时),转动件30即可位于所述激发位置。
具体地,参图4和图5,转动件30包括障碍接触部33和触发部32,障碍接触部33至少部分高出所述主体的上表面以使障碍接触部33能够与障碍物进行碰撞接触。并且,当障碍接触部33与障碍物发生碰撞时,在障碍物的推动下,转动件30能够绕枢转轴Z沿所述第一时针方向所述初始位置向所述激发位置转动,使得触发部32趋近感应元件40,从而使得感应元件40被激发。
这样,本实施例的清洁机器人100,通过设置所述遇障检测装置和所述控制器,并优化所述遇障检测装置的结构,可以检测到清洁机器人100上方的障碍物,能够避免清洁机器人100运动到障碍物下方而被卡住,例如,当床、沙发、桌、椅等家具下方具有与清洁机器人100等高或略高的间隙时,转动件30一旦与这些家具发生碰撞,感应元件40即可向所述控制器发送障碍信号,从而使所述控制器控制清洁机器人100运动,而且转动件30转动,方便清洁机器人100从这些家具下方退出来。
具体地,在本实施例中,障碍接触部33包括高出所述主体上表面的顶端33e、自顶端33e向前下方延伸的第一引导面33c以及自顶端33e向后下方延伸的第二引导面33b。
当第一引导面33c和第二引导面33b的任意一个与障碍物发生碰撞时,转动件30均能够绕枢转轴Z沿第一时针方向有初始位置向激发位置转动,顶端33e到所述主体上表面的距离减小,触发部32趋近感应元件40以使感应元件40被激发。
也就是说,当清洁机器人100在沿方向v前进过程中,若障碍物的下部边缘与第一引导面33c发生碰撞,在障碍物的推动下,转动件30能够绕枢转 轴Z沿所述第一时针方向转动,例如本实施例中转动件30由图3和图4所示的初始位置转动至图6和图7所示的激发位置,顶端33e到所述主体上表面的距离减小,从而避免清洁机器人100被障碍物卡住,同时触发部32趋近感应元件40以使感应元件40被激发,感应元件40向所述控制器发送障碍信号;而当清洁机器人100在沿方向v的反方向后退过程中,若障碍物的下部边缘与第二引导面33b发生碰撞,在障碍物的推动下,转动件30也能够绕枢转轴Z沿所述第一时针方向转动,同样例如本实施例中转动件30由图3和图4所示的初始位置转动至图6和图7所示的激发位置,顶端33e到所述主体上表面的距离减小,从而避免清洁机器人100被障碍物卡住,同时触发部32趋近感应元件40以使感应元件40被激发,感应元件40向所述控制器发送障碍信号。
需要说明的是,在转动件30绕枢转轴Z沿所述第一时针方向转动时,转动件30由图3和图4所示的初始位置向图6和图7所示的激发位置转动过程中,转动件30略微离开初始位置,触发部32即可使感测元件40被激发。也就是说,只要转动件30稍有转动,即可使感测元件40被激发,从而增强所述遇障检测装置的灵敏性。进一步地,随着转动件30由初始位置向激发位置的转动幅度增大,触发部32可持续使感测元件40处于被激发状态。
在本实施例中,感测元件40设置为微动开关,其包括开关本体42和活动设置于开关本体42上的触片41,当转动件30绕枢转轴Z沿所述第一时针方向转动时,触发部32趋近并接触触片41,以使所述微动开关被激发,开关本体42向所述控制器发送障碍信号。并且,随着转动件30的转动幅度增大,触发部32与触片41的接触更紧密,以使所述微动开关保持被激发的状态。当然,感测元件40可以设置为任意一种能够根据触发部32和感测元件40之间的距离变化而被激发的装置,例如在其它可行实施例中,感测元件40还可以设置为距离传感器。
进一步地,参图2和图4,转动件30包括限位部35,限位部35能够与所述主体相抵持以阻止转动件30在初始位置时沿第二时针方向转动,其中, 所述第二时针方向与所述第一时针方向互为反方向。这样,当第一引导面33c或者第二引导面33b与障碍物发生碰撞并且使得转动件30产生绕枢转轴Z沿所述第二时针方向转动的趋势时,限位部35与所述主体相抵持以阻止转动件30沿所述第二时针方向转动。
进一步地,参图1和图4,转动件30枢转组装在机壳10上。具体来说,机壳10还包括安装座14、安装通道和压盖13。
其中,安装座14位于顶盖11的前部下方位置处,其可与顶盖11一体成型或分体成型后组装配接。
所述安装通道形成于安装座14上方并与清洁机器人100的上方外部空间相连通,这样,在组装时,转动件30可以通过所述安装通道由上向下组装在安装座14上。本实施例中,转动件30包括界定出枢转轴Z的枢转部31,枢转部31可以配合在安装座14的容纳腔140内,并且枢转部31的左右两端与安装座14组装连接。
压盖13具有与障碍接触部33相适配的开口,当转动件30组装在机壳10上后,压盖13从上往下扣合在所述安装通道上方,其能够与顶盖11和/或安装座14配接固定,并且部分障碍接触部33(在本实施例中,顶端33e、第二引导面33b以及部分第一引导面33c)通过所述开口向上凸伸出来。优选地,压盖13的上表面与顶盖11的上表面大致共平面设置。
进一步地,转动件30设置为沿枢转轴Z纵长延伸的一体成型的杆状结构,枢转部31设置为圆柱形长直杆,其轴心界定出枢转轴Z;障碍接触部33自枢转部31垂直于枢转轴Z向外延伸;限位部35形成于障碍接触部33的边缘处,并且沿远离枢转轴Z的方向延伸呈钩状结构,其能够与压盖13下表面相抵持以阻止转动件30于初始位置处沿所述第二时针方向转动,在本市实施例中限位部35设置为沿枢转轴Z间隔排列的3个;触发部32自枢转部31沿远离枢转轴Z的方向延伸呈板结构,在组装状态下触发部32的末端越过安装座14向感测元件40处延伸。
进一步地,在本实施例中,所述第一时针方向在图3~7的示图视角上为 逆时针方向,转动件30由初始位置绕枢转轴Z向激发位置转动时,位于枢转轴Z上方的转动件30部分(包括障碍接触部33)具有由后向前的运动分量,位于枢转轴Z下方的转动件30部分(包括触发部32的延伸末端)具有由前向后的运动分量。当然,在其它可行实施例中,所述第一时针方向也可以与本实施例相反。
进一步地,顶端33e位于枢转轴Z的前上方或后上方,换句话说,也即顶端33e与枢转轴Z不位于与前后方向垂直的同一个纵截面上,在本实施例中,顶端33e位于枢转轴Z的前上方。
在垂直于枢转轴Z的截面上,第一引导面33c可以设置为由顶端33e向前下方延伸的倾斜平面或者弧面;第二引导面33b可以设置为由顶端33e向后下方延伸的倾斜平面或者弧面。在本实施例中,第一引导面33c和第二引导面33b均设置为弧面。
障碍接触部33还具有设置为弧面的第三引导面33a。
在本实施例中,第三引导面33a通过弧面33d过渡连接至第二引导面33b的后端,也即,第一引导面33c、第二引导面33b、第三引导面33a由前向后依次排布。第一引导面33c、第三引导面33a的弧心均位于枢转轴Z上,第一引导面33c与压盖13的所述开口前边缘131相贴合,第三引导面33a与压盖13的所述开口后边缘132相贴合。这样,当转动件30绕枢转轴Z转动时,可避免外部灰尘从所述开口随转动件30的转动而进入清洁机器人100内部。
第二引导面33b的弧心Z1不位于枢转轴Z上,第二引导面33b的弧心Z1位于枢转轴Z的前方,这样,当第二引导面33b与障碍物发生碰撞时,转动件30不会产生绕枢转轴Z沿所述第二时针方向转动的趋势,而且在碰撞外力大小相同的情况下,在第二引导面33b上的力的转矩更大,从而使清洁机器人100更容易地从障碍物下方后退出来,而避免卡死。
当然,在其它可行的实施例中,关于第一引导面、第二引导面和第三引导面的位置关系及弧心位置,还可以设置为:所述第三引导面连接至所述第一引导面的前端,也即,所述第三引导面、所述第一引导面、所述第二引导 面由前向后依次排布;所述第三引导面、所述第二引导面的弧心均位于枢转轴Z上,所述第三引导面与所述压盖的开口前边缘相贴合,所述第二引导面与所述压盖的开口后边缘相贴合,这样,同样可以实现避免进灰;以及,所述第一引导面的弧心不位于或位于枢转轴Z上。也就是说,障碍接触部的三个引导面中,位于两端的两个引导面的弧心位于枢转轴Z上并且与所述压盖相贴合,从而避免漏灰,而位于中间的引导面的弧心可以位于或不位于枢转轴Z上。
可以理解的,第一引导面33c、第二引导面33b、第三引导面33a均为碰撞接触部33远离枢转轴Z的外表面;在本实施例中,碰撞接触部33的前端331和后端332始终位于压盖13的下方,另外,碰撞接触部33的内表面处设置有加强筋34,从而保证碰撞接触部33的防撞击结构强度。
进一步地,在本实施例中,所述微动开关具体设置于机身20上。
机壳10通过弹簧等柔性结构活动地罩在机身20上,当清洁机器人100沿方向v前进且侧板12前壁与障碍物发生碰撞时,机壳10可相对机身20整体向后运动,相对应的,转动件30随之同步向后运动,触发部32趋近并接触触片41以使得所述微动开关被激发,开关本体42向所述控制器发送障碍信号。这样,清洁机器人100在不增加器件成本的情况下,通过同一转动件30和感测元件40的配合,同时实现了对上方障碍物和前方障碍物的感测,而且还可以避免上方遇障时卡死情况的发生。
进一步地,在本实施例中,所述微动开关呈倾斜状地组装在机身20上,触片41自其连接端至其自由端向后上方倾斜延伸。
进一步地,清洁机器人100还具有存储器,所述存储器配置为可以临时或非临时地存储用于清洁机器人100的操作的数据和程序。在本实施例中,所述存储器至少配置为:存储关于清洁区域的预设地图。所述预设地图可以通过绘制、扫描、下载等方式产生。
所述存储器的实现方式可以为闪存类型、硬盘类型、随机存储器(RAM)、静态随机存取存储器(SRAM)、只读存储器(ROM)、电可擦除可编程只 读存储器(EEPROM)、可编程只读存储器(PROM)、磁存储器、磁盘、光学磁盘等存储介质中的至少一种或多种。然而,所述存储器的类型不限于此,其还可以为在因特网上执行存储功能的网络存储器。
所述控制器与所述存储器相连接,并用于访问和控制所述存储器,例如:读取所述存储器内存储的地图,控制所述存储器更新地图,等。
进一步地,本发明还提供了一种机器人的行走控制方法,参图8的一优选实施例,本发明的所述行走控制方法具体包括步骤:
S1,按照规划路径前进;
S2,接收到第一障碍信号;
S3,后退预设距离;
S31,判断步骤S3的后退过程中是否再次接收到第一障碍信号;若是,则重置已统计的后退距离,并返回步骤S3;若否,则进入步骤S4;
S4,旋转预设角度;
S5,前进。
结合以图1至图7所示的清洁机器人100,对所述行走控制方法进行说明:
步骤S1,所述控制器控制清洁机器人100按照规划路径前进;
步骤S2,第一引导面33c或者侧板12前壁与障碍物发生碰撞,转动件30绕枢转轴Z沿所述第一时针方向由所述初始位置向所述激发位置转动,转动件30的触发部32趋近并接触触片41,以使得所述微动开关被激发,开关本体42向所述控制器发送第一障碍信号,所述控制器从开关本体42处接收到所述第一障碍信号;
步骤S3,所述控制器控制清洁机器人100后退预设距离S;
步骤S31,在所述控制器控制清洁机器人100后退预设距离S的过程中,判断是否接收到第一障碍信号;假如已经后退了距离S1(S1<S),然而所述控制器再次从开关本体42处接收到第一障碍信号,这种情况有可能是清洁机器人100前进过程中首次遇到障碍物时因为惯性作用而越过了遇障点,例 如钻入了障碍物下方,那么所述控制器控制清洁机器人100继续后退所述预设距离S,也即重置已统计的后退距离S1,返回步骤S3;否则,直接进入步骤S5;
步骤S4,所述控制器控制清洁机器人100绕竖直纵轴旋转预设角度β;
步骤S5,在完成旋转预设角度β的动作后,所述控制器控制清洁机器人100继续前进。
进一步地,所述步骤S4还包括:
S41,判断步骤S4的旋转过程中是否接收到第二障碍信号;若是,则回转复位,并返回步骤S3;若否,则进入步骤S5。
以清洁机器人100为例,在清洁机器人100旋转预设角度β过程中,判断是否接收到第二障碍信号;假如已经旋转了角度γ(γ<β),而所述控制器从开关本体42处接收到第二障碍信号,这种情况有可能是清洁机器人100的侧方有障碍物,则所述控制器控制清洁机器人100回转复位,也即回转角度γ,而后返回步骤S3(也即控制清洁机器人100后退预设距离S);否则,进入步骤S5。
进一步地,所述步骤S2之后还包括:S21:在地图上标记障碍点,更新地图并存储更新后的地图。
以清洁机器人100为例,所述清洁机器人100遇到障碍后,所述控制器可以根据坐标在清洁机器人100的地图上标记障碍点A,从而更新清洁机器人100的地图,还可以控制所述存储器存储更新后的地图。
与现有技术相比,本实施例的清洁机器人100及其行走控制方法具有以下有益效果:
(1)可以检测到清洁机器人100上方的障碍物,还可以避免清洁机器人100运动到障碍物下方而被卡住,例如,当床、沙发、桌、椅等家具下方具有与清洁机器人100等高或略高的间隙时,转动件30一旦与这些家具发生碰撞,感应元件40即可向所述控制器发送障碍信号,从而使所述控制器控制清洁机器人100运动,而且转动件30的转动还可以使清洁机器人100方便地 从这些家具下方退出来;
(2)当转动件30绕枢转轴Z转动时,可避免外部灰尘从所述开口随转动件30的转动而进入清洁机器人100内部。
(3)清洁机器人100在不增加器件成本的情况下,通过同一转动件30和感测元件40的配合,同时实现了对上方障碍物和前方障碍物的感测,而且还可以避免上方遇障时卡死情况的发生;
(4)在清洁机器人100遇障之后,在控制清洁机器人100后退过程中再检测是否遇障,从而保证清洁机器人100能够从障碍物下方顺利脱离出来,而避免清洁机器人100在障碍物下方徘徊卡死。
实施例2
参看图9至图12所示的本发明另一优选实施例,其提供了一种所述机器人及其行走控制方法,该实施例与实施例1的区别在于:触发部的位置及形状、感测元件的布设角度。下面对该区别进行详细介绍,其他与实施例1相同的部分/结构及有益效果不再赘述。
需要说明的是,在本实施例中与实施例1相同的部件/结构,采用与实施例1中相同的数字结合上角标的方式进行标号。例如,本实施例中的标号“100’”与实施例1中的标号“100”均标示部件“清洁机器人”。
在本实施例中,转动件30’的触发部32’连接于遇障检测部33’,其自遇障检测部33’的前端331’呈弧状延伸至感测元件40’的前方。
并且,在本实施例中,感测元件40’设置为微动开关,所述微动开关包括开关本体42’和活动连接于开关本体42’的触片41’,其中,开关本体42’沿竖直方向地布设在机身20’的前部,触片41’自其连接端至其自由端向前上方倾斜延伸。
应当理解,虽然本说明书按照实施方式加以描述,但并非每个实施方式仅包含一个独立的技术方案,说明书的这种叙述方式仅仅是为清楚起见,本领域技术人员应当将说明书作为一个整体,各实施方式中的技术方案也可以经适当组合,形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明,它们并非用以限制本发明的保护范围,凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。
Claims (12)
- 一种机器人,包括能够前后行走的主体、控制器及至少部分收容于所述主体的遇障检测装置,其特征在于,所述遇障检测装置包括:感测元件,其设置于所述主体内并连接所述控制器,当所述感测元件被激发时,所述感测元件向所述控制器发送障碍信号;转动件,其绕枢转轴转动地组装在所述主体上,所述转动件包括障碍接触部和触发部,所述障碍接触部至少部分高出所述主体上表面;其中,当所述障碍接触部与障碍物发生碰撞时,所述转动件绕所述枢转轴沿第一时针方向由初始位置向激发位置转动,所述触发部趋近所述感应元件以使所述感测元件被激发。
- 根据权利要求1所述的机器人,其特征在于,所述转动件还包括限位部,所述限位部与所述主体相抵持以阻止所述转动件由所述初始位置绕所述枢转轴沿第二时针方向转动,其中,所述第二时针方向与所述第一时针方向互为反方向。
- 根据权利要求1所述的机器人,其特征在于,所述障碍接触部包括高出所述主体上表面的顶端、自所述顶端向前下方延伸的第一导引面以及自所述顶端向后下方延伸的第二导引面,当所述第一引导面和所述第二引导面的任意一个与障碍物发生碰撞时,所述转动件均能够绕所述枢转轴沿所述第一时针方向由所述初始位置向所述激发位置转动。
- 根据权利要求3所述的机器人,其特征在于,所述第二引导面设置为弧面,且其弧心位于所述枢转轴的前方。
- 根据权利要求3所述的机器人,其特征在于,所述障碍接触部还包括第三引导面,所述第三引导面连接于所述第二引导面的后端;所述主体具有开口,部分所述障碍接触部通过所述开口自下而上凸伸出所述主体上表面;其中,所述第三引导面和所述第一引导面均设置为弧心位于所述枢转轴上的弧面,且当所述转动件沿所述第一时针方向转动时,所述第三引导面始终与 所述开口的后边缘相贴合,所述第一引导面始终与所述开口的前边缘相贴合。
- 根据权利要求3所述的机器人,其特征在于,所述障碍接触部还包括第三引导面,所述第三引导面连接于所述第一引导面的前端;所述主体具有开口,部分所述障碍接触部通过所述开口自下而上凸伸出所述主体上表面;其中,所述第三引导面和所述第二引导面均设置为弧心位于所述枢转轴上的弧面,且当所述转动件沿所述第一时针方向转动时,所述第二引导面始终与所述开口的后边缘相贴合,所述第三引导面始终与所述开口的前边缘相贴合。
- 根据权利要求1所述的机器人,其特征在于,所述枢转轴垂直于前后方向水平延伸,当所述转动件由初始位置沿所述第一时针方向转动时,位于所述枢转轴上方的所述转动件部分具有由后向前的运动分量,位于所述枢转轴下方的所述转动件部分具有由前向后的运动分量。
- 根据权利要求1所述的机器人,其特征在于,所述主体包括机身以及活动地覆盖于所述机身外的机壳,所述感测元件设置于所述机身上,所述转动件组装于所述机壳上;当所述机壳相对所述机身向后运动时,所述转动件随所述机壳同步向后运动,且所述触发部趋近所述感应元件以使所述感应元件被激发。
- 一种机器人的行走控制方法,其特征在于,所述行走控制方法包括步骤:S1,按照规划路径前进;S2,接收到第一障碍信号;S3,后退预设距离;S31,判断步骤S3的后退过程中是否再次接收到第一障碍信号;若是,则重置已统计的后退距离,并返回步骤S3;若否,则进入步骤S4;S4,旋转预设角度;S5,前进。
- 根据权利要求9所述的机器人的行走控制方法,其特征在于,所述机器人包含主体、感测元件、与所述感测元件相连接的控制器及绕枢转轴转动地组装在所述主体上的转动件,所述转动件包括障碍接触部和触发部,所述障碍接 触部至少部分高出所述主体上表面;所述步骤S2具体为:当所述障碍接触部与障碍物发生碰撞时,所述转动件绕所述枢转轴沿第一时针方向由初始位置向激发位置转动,所述触发部趋近所述感应元件以使所述感测元件被激发,所述控制器从所述感测单元接收到第一障碍信号。
- 根据权利要求9所述的机器人的行走控制方法,其特征在于,所述步骤S4还包括:S41,判断步骤S4的旋转过程中是否接收到第二障碍信号;若是,则回转复位,并返回步骤S3;若否,则进入步骤S5。
- 根据权利要求9所述的机器人的行走控制方法,其特征在于,所述步骤S2之后还包括:S21:在地图上标记障碍点,更新地图并存储更新后的地图。
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