CN103941735A - Floor cleaning robot and method for controlling robot to avoid obstacle - Google Patents
Floor cleaning robot and method for controlling robot to avoid obstacle Download PDFInfo
- Publication number
- CN103941735A CN103941735A CN201410184885.5A CN201410184885A CN103941735A CN 103941735 A CN103941735 A CN 103941735A CN 201410184885 A CN201410184885 A CN 201410184885A CN 103941735 A CN103941735 A CN 103941735A
- Authority
- CN
- China
- Prior art keywords
- light
- robot
- optical receiver
- reflected light
- optical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims description 34
- 230000003287 optical effect Effects 0.000 claims description 201
- 230000004888 barrier function Effects 0.000 claims description 85
- 238000001514 detection method Methods 0.000 claims description 11
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 7
- 230000000712 assembly Effects 0.000 abstract 2
- 238000000429 assembly Methods 0.000 abstract 2
- 230000008569 process Effects 0.000 description 12
- 239000000428 dust Substances 0.000 description 8
- 230000008859 change Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 235000004443 Ricinus communis Nutrition 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000746 body region Anatomy 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
Abstract
The invention relates to a floor cleaning robot which comprises at least one group of light emitting and receiving assemblies. Each group of light emitting and receiving assemblies include a light emitting unit provided with two light emitters and a light receiving unit provided with two light receivers, wherein two light emitters can emit light beams provided with a large light beam angle and a small light beam angle, two light receivers are respectively used for receiving the light beams, and parts of two light emitting regions corresponding to the light emitters are overlapped with parts of two light receiving regions corresponding to the light receivers. By arranging two light emitters capable of emitting the light beams provided with different light beam angles and two corresponding light receivers, the light receivers can be respectively used for receiving reflected light of two light beams emitted by two light emitters, and when the intensities of two kinds of reflected light are used for judging whether a robot body is already close to an obstacle or not, the floor cleaning robot performing cleaning work can be not influenced by the material and shape of the obstacle surface and accurately avoid the obstacle.
Description
Technical field
The present invention relates to one
robot for cleaning floor and for controlling the method for its avoiding obstacles.
Background technology
Robot for cleaning floor is a kind of full intelligent cleaning device, and this device cleans remaining cleaning by autonomous on cleaned cleaning area in the situation that not controlled by user.Because robot for cleaning floor is automated movement, therefore in moving process, can run into unavoidably the barrier such as wall, furniture.And after once robot and barrier bump, the moving direction of robot will change, and this change is difficult to control, therefore, on prior art sewing robot for cleaning floor, be provided with barrier sensing module, can make robot for cleaning floor few the bumping with barrier of trying one's best by the thing sensing module of placing obstacles.
At present, the principle of work of the barrier sensing module on robot for cleaning floor is for passing through sensor emission light, ultrasound wave etc., and the light or the ultrasound wave that after by barrier reflection, return with the form detection of detection signal.The time difference, phase differential or intensity difference based between detection signal, obstacle sensor distinguishes whether have barrier and the distance from sensor to barrier.Obstacle sensor can light or hyperacoustic reflection angle based on being reflected be distinguished the distance from sensor to barrier.The drawback that the sensing module that utilizes utilizing emitted light to detect barrier exists is: in the time that barrier surface is not the different barrier of flat surface or absorptivity surface, the time that barrier sensing module can detect can be different, will cause like this robot to have and far have closely apart from the distance of barrier in the time carrying out avoiding obstacles instruction, thereby make robot can not complete unified cleanliness standard.The drawback that the sensing module that utilizes ultrasound wave to detect barrier exists is: acoustic emission needs certain sweep time, based on this reason, may cause robot directly and barrier bumps.
Summary of the invention
For the technical deficiency of above-mentioned existence, the first object of the present invention is to provide the high robot for cleaning floor of a kind of barrier sensing efficiency.
The second object of the present invention be to provide a kind of efficiently, for controlling the control method of robot for cleaning floor avoiding obstacles.
In order to reach the first above-mentioned object, the present invention adopts following technical scheme:
A kind of robot for cleaning floor, comprise robot body, drive driver module that described robot body moves and/or rotate in region to be cleaned, be arranged on described robot body and be used to detect the barrier sensing module that whether has barrier in cleaning area, the main control module of controlling described driver module work, it is characterized in that: described barrier sensing module comprises at least one group of light transceiver module, the described light transceiver module of each group comprises:
Optical Transmit Unit, comprise the first optical transmitting set that is provided with the first light source and the second optical transmitting set that is provided with secondary light source, the first described optical transmitting set has the first axial line and can send first light beam with the first beam angle, the first described optical transmitting set correspondence has the first light emitting area, the second described optical transmitting set has the second axial line and can send second light beam with the second beam angle and maybe can send thin parallel beam, the second described optical transmitting set correspondence has the second light emitting area, the first described optical transmitting set and the second optical transmitting set be the corresponding light beam of alternate emission successively,
Light receiving unit, comprise the first optical receiver that is provided with the first light activated element and the second optical receiver that is provided with the second light activated element, the first described optical receiver runs into the first reflected light behind barrier surface for receiving the first described light beam, the second described optical receiver runs into the second reflected light behind barrier surface for receiving the second described light beam, the first described optical receiver and the second optical receiver all connect with signal with described main control module, the first described optical receiver has the 3rd axial line and can receive the light beam with the 3rd beam angle, the first described optical receiver correspondence has the first optical receiving region, the second described optical receiver has the 4th axial line and can receive the light beam with the 4th beam angle and maybe can receive thin parallel beam, the second described optical receiver correspondence has the second optical receiving region, the angle of the second described beam angle is less than the first described beam angle and the angle of the 3rd beam angle simultaneously, the angle of the 4th described beam angle is less than the first described beam angle and the angle of the 3rd beam angle simultaneously,
The first described light emitting area and the first described optical receiving region have subregion overlaid, the second described light emitting area and the second described optical receiving region have subregion overlaid, the second described axial line and the described crossing formation of the 4th axial line first-phase intersection point, described first-phase intersection point is positioned at the first described light emitting area and the first described equitant region of optical receiving region.
In technique scheme, preferred, the first described axial line and the described crossing formation of the 3rd axial line second-phase intersection point, first-phase intersection point to robot body 1 distance is greater than the distance of second-phase intersection point to robot body.
In technique scheme, preferred, the first described beam angle is to be more than or equal to the angle of 50 °.
In technique scheme, preferred, the 3rd described beam angle is to be more than or equal to the angle of 50 °.
In technique scheme, preferred, the second described beam angle is greater than 0 ° and is less than or equal to the angle of 15 °.
In technique scheme, preferred, the 4th described beam angle is greater than 0 ° and is less than or equal to the angle of 15 °.
In technique scheme, preferred, the first described axial line and described the 3rd axial line, described the second axial line and described the 4th axial line all taking the center line of this group light transceiver module as axis of symmetry symmetrical.
In technique scheme, preferred, described the first light source, secondary light source, the first light activated element, the second light activated element are arranged on same support.
In order to reach the second above-mentioned goal of the invention, the present invention adopts following technical scheme: a kind of for controlling the method for above-mentioned robot for cleaning floor avoiding obstacles, the method comprises the steps:
Can the first described optical receiver and the continuous detection of the second optical receiver receive the first reflected light signal and the second reflected light signal, are real-time transmitted to described main control module if receive the reflected light signal that corresponding reflected light signal received;
In the time that described main control module can receive the first reflected light signal being transmitted by described the first optical receiver and can receive again the second reflected light signal being transmitted by the second described optical receiver in setting-up time, described main control module starts judgement and receives the magnitude relationship by the second intensity of reflected light of the second described optical receiver transmission at every turn, as this second intensity of reflected light receiving is less than the second intensity of reflected light that the last time receives, described master control module controls driver module is carried out the instruction of avoiding obstacles.
In technique scheme, preferably, in described main control module, be provided with a light intensity threshold values, in the time that described main control module receives the first intensity of reflected light being transmitted by described the first optical receiver and is more than or equal to described light intensity threshold values, the driver module described in described master control module controls reduces robot body's pace in the situation that not changing current robot main body working direction.
Beneficial effect of the present invention is: by two optical transmitting sets and two corresponding optical receivers that can send the light beam with different beam angles are set, make two optical receivers can be used to respectively the reflected light of two kinds of light beams that receive two optical transmitting set transmittings, while judging robot body whether near barrier by these two kinds of catoptrical intensity, thereby make robot for cleaning floor in the time carrying out cleaning, can not be subject to the impact of barrier Facing material and shape, accurately avoiding obstacles.
Brief description of the drawings
The schematic diagram that accompanying drawing 1 is robot for cleaning floor of the present invention;
The structural representation that accompanying drawing 2 is smooth transceiver module of the present invention;
The schematic diagram that accompanying drawing 3 is smooth transceiver module of the present invention;
Distance relation between the first intensity of reflected light and barrier and robot body that accompanying drawing 4 receives when the work for the first optical receiver of the present invention;
Distance relation between the second intensity of reflected light and barrier and robot body that accompanying drawing 5 receives when the work for the second optical receiver of the present invention;
The schematic diagram of the light transceiver module that accompanying drawing 6 is another embodiment of the present invention;
Wherein: 1, robot body; 2, input/output module; 3, light transceiver module; 4, Optical Transmit Unit; 5, light receiving unit; 6, support; 41, the first optical transmitting set; 411, the first light source; 412, the first axial line; 42, the second optical transmitting set; 421, secondary light source; 422, the second axial line; 51, the first optical receiver; 511, the first light activated element; 512, the 3rd axial line; 52, the second optical receiver; 521, the second light activated element; 522, the 4th axial line.
Embodiment
Below in conjunction with embodiment shown in the drawings, the present invention is described in detail below:
Robot for cleaning floor as shown in Fig. 1, this robot for cleaning floor is a kind of robot for cleaning floor for floor suction, it is not in the situation that needing user to control in real time, advance in region to be cleaned and for example, carry out the device in automated cleaning region to be cleaned simultaneously by the ground suction impurity (, dust) from cleaning area.This robot for cleaning floor comprises robot body 1, cradle (not shown), telepilot (not shown) etc.
Robot body 1 is provided with the cleaning module (not shown) for clean space to be cleaned, for the driver module (not shown) that makes robot body 1 move and/or rotate, receive for the operational order of robot for cleaning floor and also show the input/output module 2 about robot for cleaning floor operation information, be positioned at the barrier sensing module of clean barrier for sensing, for storing the data storage module (not shown) of various data, for the power module (not shown) to robot body's power supply, for the main control module (not shown) of control main body.Wherein, barrier sensing module is installed to robot body 1 front side (in the time watching along the direct of travel of robot for cleaning floor), and input/output module 2 is arranged on robot body 1 top.
Cleaning module generally includes: main brush unit, and cleaning is present in ground dust, so that the dust of cleaning is directed to suction inlet; Side brush unit, clean region and corner regions near wall.Main brush unit can be arranged on the opening (being suction port) that is formed at robot body's lower bottom part and locate, to clean the ground dust that accumulates in robot body present position.Opening operated by rotary motion is on the first half of robot body's lower bottom part.Opening can be used as sucking the dust entrance of dust.Cleaning module also comprises the vacuum source unit being arranged in robot body, to produce suction.Vacuum source unit is for moving in the dust-collecting box of robot body inside the dust that is introduced in dust entrance.
Driver module generally includes a pair of travel wheel and castor, according to the control signal of advancing, robot body is moved; Castor can be in for a change working direction and rotate the attitude that keeps stable of robot body simultaneously.A pair of travel wheel can medially be arranged according to symmetrical mode the both sides place of robot body's bottom.A pair of travel wheel can be carried out and comprise motor performance mobile and rotation under the control of the main control module of robot for cleaning floor.Castor can be arranged on the lead edge portion place of robot body's lower bottom part.
Input/output module 2 is arranged on robot body's top.Input/output module 2 comprises: multiple action buttons, input the operational order for robot for cleaning floor by user; Display panel, shows the information about the operation of robot for cleaning floor, for example, and the information that whether turns round about robot for cleaning floor, about the information of traveling mode etc.
Barrier sensing module comprises many group light transceiver modules 3, these light transceiver modules 3 are uniformly distributed that on the periphery wall of the first half that is arranged on robot body 1, (forward and backward position is herein to distinguish with the direct of travel of robot for cleaning floor, when robot body 1 moves in cleaning area, all the time move from back to front, that mentions below is forward and backward equidirectional identical therewith), respectively organize light transceiver module 3 and all there is a search coverage that comprises obstacle detection direction and detection range.The detection direction of light transceiver module 3 be a bit towards robot body 1 dead ahead, some is towards robot body's left front or left side, some is towards robot body 1 right front or right side, the far and near distance that detection range can be surveyed for light transceiver module.In the time that many group light transceiver modules 3 are installed, ensure that the obstacle detection region of these light transceiver modules 3 can at least cover robot body 1 the corresponding region of first half.Whether light transceiver module 3 can find to have barrier to exist in obstacle detection region separately, thereby provides foundation for master control module controls robot body 1 carries out avoiding obstacles instruction.Followingly will describe the concrete structure of each group of light transceiver module 3 in detail.
One group of light transceiver module 3 as shown in Figure 2, it is made up of Optical Transmit Unit 4 and light receiving unit 5 two parts.Optical Transmit Unit 4 has the first optical transmitting set 41 and the second optical transmitting set 42, the first optical transmitting sets 41 and the adjacent setting of the second optical transmitting set 42, and the first optical transmitting set 41 has the first light source 411, the second optical transmitting sets and has secondary light source 421.The first light source 411 and secondary light source 421 can be selected the luminescent devices such as light emitting diode (LED), and the light sending from the first light source 411 and secondary light source 421 can be invisible infrared ray, visible ray etc.Optical receiver 5 comprises the first optical receiver 51 and the second optical receiver 52, the first optical receiver 51 runs into the first reflected light after barrier surface reflection for receiving the first light beam, and the second optical receiver 52 runs into the second reflected light of barrier surface back reflection for receiving the second light beam.The first optical receiver 51 has the first light activated element 511, the second optical receivers 51 and has the second light activated element 511.In this embodiment, in order to reduce the quantity of parts, the first light source 411, secondary light source 421, the first light activated element 51 and the second light activated element 52 are installed on same support 6.
As shown in Figure 3, the first optical transmitting set 41 has the first axial line 412 and can send first light beam with the first beam angle α, and the first beam angle α is more than or equal to the angle of 50 °.The axial line that the first axial line 412 is herein optical system, be optical axis or the center line of the light beam that the first optical transmitting set 41 sends, the light beam that the first optical transmitting set 41 sends rotates around this first axial line 412, without any the variation of optical characteristics (following the second axial line of mentioning, the 3rd axial line, the 4th axial line are identical with the first axial line meaning herein).Corresponding the first axial line 412 of the first optical transmitting set 41 and the first beam angle α have the first light emitting area S1, and this region S1 is a wide emitting area.The second optical transmitting set 42 has the second axial line 422 and can send second light beam with the second beam angle β, the second beam angle β is greater than 0 to be less than or equal to the angle of 15 °, corresponding the second axial line 422 of the second optical transmitting set 42 and the second beam angle β have the second light emitting area S2, and this region S2 is a narrow emitting area.In order to make the first following optical receiver 51 and the second optical receiver 52 can interference-freely receive respectively the first light beam and the second light beam runs into the first reflected light and the second reflected light after barrier surface reflection, the first optical transmitting set 41 and the successively corresponding light beam of alternate emission of the second optical transmitting set 42.The first optical receiver 51 has the 3rd axial line 512 and can receive the light beam with the 3rd beam angle γ, the 3rd beam angle γ is more than or equal to the angle of 50 °, corresponding the 3rd axial line 513 of the first optical receiver 51 and the 3rd beam angle γ have the first optical receiving region S3, and this region S3 is a wide receiving area.The second optical receiver 52 has the 4th axial line 522 and can receive the light beam with the 4th beam angle δ, the 4th beam angle δ is greater than 0 to be less than or equal to the angle of 15 °, corresponding the 4th axial line 522 of the second optical receiver 52 and the 4th beam angle δ have the second optical receiving region S4, and this region S4 is a narrow receiving area.Because the first light beam and the second light beam are alternate emission successively, therefore the first optical receiver 51 and the second optical receiver 52 are also successively alternately to receive the first reflected light and the second reflected light.In this embodiment, the first axial line 412 and the 3rd axial line 512 are with the center line P of this group light transceiver module
1for axis of symmetry is symmetrical set, the second axial line 422 and the 4th axial line 522 are also with the center line P of this group light transceiver module
1for axis of symmetry is symmetrical set.The first light emitting area S1 of the first optical transmitting set 41 and the first optical receiving region S3 of the first optical receiver 51 have subregion overlaid, and the second light emitting area S2 of the second optical transmitting set 42 and the second optical receiving region S4 of the second optical receiver 52 have subregion overlaid.The first axial line 412 of the first optical transmitting set 41 with the 3rd axial line 512 of the first optical receiver 51 at crossing formation second-phase intersection point O
2, the second axial line 422 and the 4th axial line 522 intersect formation first-phase intersection point O
1, first-phase intersection point O
1be positioned at the first light emitting area S1 and the first equitant region of optical receiving region S1, and first-phase intersection point O
1be greater than second-phase intersection point O to robot body 1 distance
2to robot body 1 distance, in the time specifically arranging, in order to strengthen the search coverage of the first optical transmitting set and the first optical receiver, preferably by second-phase intersection point O
2be arranged near robot body 1 or just in time drop on robot body 1.
Set forth the course of work of respectively organizing light transceiver module 3 below: robot body 1 moves forward and carries out cleaning in cleaning area, the first optical transmitting set 41 and the second Optical Transmit Unit 42 priority alternate emissions have the first light beam of the first beam angle and have the second light beam of the second beam angle.When there is barrier in the corresponding search coverage of light transceiver module 3 time, the first light beam that the first optical transmitting set 41 and the second optical transmitting set 42 are launched and the second light beam can reflect (or diffuse reflection) being irradiated to behind barrier surface, thereby form respectively the first reflected light and the second reflected light.The second light beam that the first light beam sending due to the first optical transmitting set 41 sends compared with the second optical transmitting set 42 has larger beam angle, and the first optical receiver 51 has the first wider optical receiving region S3, therefore running into after barrier, first the first optical receiver 51 will receive the first catoptrical signal, and along with robot body 1 is nearer to barrier, the first catoptrical intensity that the first optical receiver 51 receives will be more and more stronger.In this simultaneously, in along with the process of robot body 1 near barrier, the second reflected light can progress in the second optical receiving region S4 and be received by the second optical receiver 52, the second catoptrical intensity that the second optical receiver 52 receives in the time starting is lower, along with robot body 1 is more and more near barrier, the second catoptrical intensity that the second optical receiver 52 receives starts to strengthen, when barrier with respect to robot body 1 position for reaching first-phase intersection point O
1, the second catoptrical intensity that now the second optical receiver 52 receives reaches the strongest when at the place, and then, along with robot body 1 is more and more near barrier, the second intensity of reflected light that the second optical receiver 52 receives starts to weaken.
Shown in Fig. 4 is that the first optical receiver 51 receives the variation relation that corresponding the first intensity of reflected light random device human agent of the first optical transmitting set 41 produces apart from the far and near difference of barrier, the barrier that there is shown three kinds of different outside surface colors is running into after the first light beam, the first intensity of reflected light that the first 51 of optical receivers can receive.Because black surface is higher to the absorptivity of light, grey is taken second place, white is minimum, therefore in three kinds of situations the first optical receiver 51 to receive the first intensity of reflected light all not identical, but the change curve seeing through in figure can find out that its total Changing Pattern is roughly the same.In the more and more less process of the distance of robot body 1 and barrier, the first strengthen continuously of the first intensity of reflected light that the first optical receiver 51 can receive, when barrier is to arrive the above-mentioned second-phase intersection point O of place mentioning with respect to robot body 1 position
2time, the first intensity of reflected light that the first optical receiver 51 receives reaches the strongest, and then, along with robot body 1 is nearer apart from barrier, the first intensity of reflected light will weaken again gradually.
Shown in Fig. 5 is corresponding the second intensity of reflected light change curve of the second optical transmitting set 42 that the second optical receiver 52 receives, the first optical receiver 51 in itself and accompanying drawing 4 is worked under same working environment, in the more and more less process of the distance of robot body 1 and barrier, the second intensity of reflected light that the second optical receiver 52 can receive is strengthen continuously at the beginning, when barrier is to arrive the above-mentioned first-phase intersection point O of place mentioning with respect to robot body 1 position
1time, it is maximum that the second intensity of reflected light that the second optical receiver 52 receives reaches, and then, along with robot body 1 is nearer apart from barrier, the second intensity of reflected light weakens again gradually.
Based on above-mentioned analysis, robot body 1 is in the close moving process of barrier, the second intensity of reflected light that the first intensity of reflected light that the first optical receiver 51 receives and the second optical receiver 52 receive all first increases then and reduces, for the second optical receiver 51, the variation of the first intensity of reflected light that the variation of its second intensity of reflected light receiving receives compared with the first optical receiver 51 is more sensitive, therefore the control barrier process in main control module or principle design can be become to following thought, whether to receive corresponding the first reflected light of the first optical transmitting set 41 be whether to judge in robot body 1 cleaning area the basis of necessary being barrier to the first optical receiver 51, corresponding the second catoptrical intensity of the second optical transmitting set 42 that the second optical receiver 52 is received is from increasing to the turning point that reduces as judging that robot body 1 need to start to carry out barrier and avoid the key condition of instruction.
In the process of carrying out towards close barrier robot body 1, the beam angle of the first light beam of launching due to the first optical transmitting set 41 is greater than the beam angle of the second light beam that the second optical transmitting set 42 launches, and first optical receiver 51 to the second optical receivers 52 there is wider optical receiving region, therefore the first optical receiver 51 receives the first catoptrical time point to receive the second catoptrical time point than the second optical receiver 52 more Zao.In addition, due to second-phase intersection point O
2than first-phase intersection point O
1nearer apart from robot body 1, thereby robot body 1 in the process near barrier, first there is peak value and weaken (being that Strength Changes is more sensitive) in the second intensity of reflected light that the second optical receiver 51 receives, and this peak value can, along with the material on barrier surface changes and change, be not the position of comparatively fixing with weakening corresponding robot body 1 with the relative distance of barrier.Also therefore, by barrier with respect to robot body 1 position for reaching " first-phase intersection point O
1" locate to be arranged to robot body and need to carry out the condition of the instruction of avoiding obstacles, so that robot body 1 can be advanced to the direction away from barrier.Robot body 1 in the moving process near barrier, when starting to weaken, the second intensity of reflected light receiving when the second optical receiver 52 (crosses " first-phase intersection point O
1"), robot body 1 starts to carry out the instruction of avoiding obstacles.
Judge that whether intensity of reflected light starts to weaken is that the size of the second intensity of reflected light of receiving by continuous comparison the second optical receiver realizes, when the second intensity of reflected light of second this acquisition of optical receiver, (the second intensity of reflected light is herein generally the mean value of the second intensity of reflected light in certain hour section, lower with), think and start to weaken when low than last the second intensity of reflected light receiving.The robot body 1 of the present embodiment is not subject to the impact of barrier Facing material in the time of avoiding obstacles, as long as by setting " first-phase intersection point O
1" relative position, control main body region how far around apart from barrier is cleaned accurately.
Set forth the method for the robot for cleaning floor avoiding obstacles for controlling the present embodiment below, the method is used for robot at operation process avoiding obstacles, in the method, in barrier sensing module, each group light transceiver module 3 is worked simultaneously, and any one group of transceiver module 3 can provide the foundation of carrying out avoiding obstacles instruction for main control module.Below in conjunction with one group of transceiver module 3 wherein and main control module cooperatively interact set forth the method for controlling robot for cleaning floor avoiding obstacles, the method is specific as follows:
In robot body 1 moving process, what the first optical transmitting set 41 and the second optical transmitting set 42 replaced backward sends the first light beam and the second light beam, the first optical receiver 51 is in running order and the first intensity of reflected light signal receiving is real-time transmitted to main control module all the time, and the second optical receiver 52 is in running order and the second intensity of reflected light signal receiving is real-time transmitted to main control module all the time.In the time that main control module receives the first intensity of reflected light signal being transmitted by the first optical receiver 51, can judge robot body 1 and have barrier at the surveyed area that is positioned at this transceiver module 3, now main control module under the basis that can receive the first intensity of reflected light signal being transmitted by the first optical receiver 51, continue monitoring its can receive the second intensity of reflected light signal being transmitted by the second optical receiver 52, as main control module, in setting-up time, (this setting-up time is the time of establishing in main control module, only has the test through this setting-up time, just can show that main control module can continue, stable receive the second intensity of reflected light signal that the first intensity of reflected light signal that the first optical receiver sends and the second optical receiver send) can receive the first intensity of reflected light signal being transmitted by the first optical receiver 51 and can receive again the second intensity of reflected light signal being transmitted by the second optical receiver 51 time, main control module starts judgement and receives at every turn, the magnitude relationship of the second intensity of reflected light being transmitted by the second optical receiver 52, be less than the last time and receive the second intensity of reflected light of being transmitted by the second optical receiver 52 (being the position of position for crossing " first-phase intersection point " that barrier is equivalent to robot body 1) as this receives the second intensity of reflected light being transmitted by the second optical receiver 52, main control module sends the instruction of carrying out avoiding obstacles to driver module, driver module control main body 1 moves to the direction away from barrier.
Above-mentioned main control module determines that can receive the first intensity of reflected light signal being transmitted by the first optical receiver 51 be to judge that robot body 1 accepts in current this light transmitting the basis that whether has barrier to exist in the search coverage of assembly 3, if receive the first intensity of reflected light signal being transmitted by the first optical receiver 51, show that robot body 1 necessarily exists barrier in corresponding search coverage, only have through this step, just can avoid robot body 1 maloperation avoiding obstacles instruction in traveling process.Can receive the first intensity of reflected light signal being transmitted by the first optical receiver 51 at main control module, start again to judge the magnitude relationship that at every turn receives the second intensity of reflected light being transmitted by the second optical receiver 51, be less than the last time and receive the second intensity of reflected light being transmitted by the second optical receiver 51 as this receives the second intensity of reflected light being transmitted by the second optical receiver 51, receive the second intensity of reflected light being transmitted by the second optical receiver 51 and start to weaken, show barrier with respect to robot body 1 position for crossing first-phase intersection point O
1position, now robot phase main body 1 must be carried out the instruction of avoiding obstacles immediately, changes current moving direction and collides to prevent robot body 1 and barrier.
In robot for cleaning floor barrier sensing module in this embodiment, owing to all having adopted two can send optical transmitting set and the correspondence with different beam angle light beams two optical receivers are set in each group light transceiver module 3, so in use, no matter the Facing material of barrier and shape are how different, light transceiver module 3 is the accurately barrier of sensing of energy all, and because the last instruction of carrying out avoiding obstacles is based on detecting whether intensity of reflected light is reducing tendency, instead of concrete intensity of reflected light value, therefore, this robot for cleaning floor is in the time running into the barrier surface with unlike material, when it carries out avoiding obstacles instruction, the distance of itself and barrier is basic identical, thereby make this robot for cleaning floor in the position very near near barrier, to carry out cleaning and can not collide with barrier.
In addition, in order to make robot body 1 to carry out the instruction of avoiding obstacles thering is time enough, in main control module, be provided with a light intensity threshold values, in the time that main control module receives the first intensity of reflected light being transmitted by the first optical receiver 51 and is more than or equal to this light intensity threshold values, master control module controls driver module reduces robot body 1 pace in the situation that not changing current working direction.This step can avoid robot because inertia effect has had little time execution avoiding obstacles on the horizon instruction.Because this light intensity threshold values is a concrete numerical value, when therefore robot body 1 runs into the barrier of Facing material difference (being mainly absorptivity difference), in the time carrying out reduction of speed instruction, its distance apart from barrier is also different.
In above-described embodiment, also the second optical transmitting set 42 can be selected the optical transmitting set for sending thin parallel beam substitute and/or select the optical receiver for receiving thin parallel beam to substitute the second optical receiver 52, as shown in Figure 6, be the schematic diagram of the light transceiver module of another embodiment of the present invention.The second optical transmitting set 42 ' of selecting in this embodiment, for sending the optical transmitting set of thin parallel beam, forms the second narrower light emitting area S2 '; The second optical receiver 52 ' of selecting, for receiving the optical receiver of thin parallel beam, forms the second narrower optical receiving region S4 '; The effect of the second optical transmitting set 42 in effect and above-described embodiment that such the second optical transmitting set 42 ' reaches is basic identical, the effect of the second optical receiver 52 in the effect that the second optical receiver 52 ' can reach and above-described embodiment is basic identical, does not repeat them here.
Above-described embodiment is only explanation technical conceive of the present invention and feature, and its object is to allow person skilled in the art can understand content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences that spirit is done according to the present invention change or modify, within all should being encompassed in protection scope of the present invention.
Claims (10)
1. a robot for cleaning floor, comprise robot body, drive driver module that described robot body moves and/or rotate in region to be cleaned, be arranged on described robot body and be used to detect the barrier sensing module that whether has barrier in cleaning area, the main control module of controlling described driver module work, it is characterized in that: described barrier sensing module comprises at least one group of light transceiver module, the described light transceiver module of each group comprises:
Optical Transmit Unit, comprise the first optical transmitting set that is provided with the first light source and the second optical transmitting set that is provided with secondary light source, the first described optical transmitting set has the first axial line and can send first light beam with the first beam angle, the first described optical transmitting set correspondence has the first light emitting area, the second described optical transmitting set has the second axial line and can send second light beam with the second beam angle and maybe can send thin parallel beam, the second described optical transmitting set correspondence has the second light emitting area, the first described optical transmitting set and the second optical transmitting set be the corresponding light beam of alternate emission successively,
Light receiving unit, comprise the first optical receiver that is provided with the first light activated element and the second optical receiver that is provided with the second light activated element, the first described optical receiver runs into the first reflected light behind barrier surface for receiving the first described light beam, the second described optical receiver runs into the second reflected light behind barrier surface for receiving the second described light beam, the first described optical receiver and the second optical receiver all connect with signal with described main control module, the first described optical receiver has the 3rd axial line and can receive the light beam with the 3rd beam angle, the first described optical receiver correspondence has the first optical receiving region, the second described optical receiver has the 4th axial line and can receive the light beam with the 4th beam angle and maybe can receive thin parallel beam, the second described optical receiver correspondence has the second optical receiving region, the angle of the second described beam angle is less than the first described beam angle and the angle of the 3rd beam angle simultaneously, the angle of the 4th described beam angle is less than the first described beam angle and the angle of the 3rd beam angle simultaneously,
The first described light emitting area and the first described optical receiving region have subregion overlaid, the second described light emitting area and the second described optical receiving region have subregion overlaid, the second described axial line and the described crossing formation of the 4th axial line first-phase intersection point, described first-phase intersection point is positioned at the first described light emitting area and the first described equitant region of optical receiving region.
2. robot for cleaning floor according to claim 1, it is characterized in that: the first described axial line and the described crossing formation of the 3rd axial line second-phase intersection point, first-phase intersection point to robot body's distance is greater than the distance of second-phase intersection point to robot body.
3. robot for cleaning floor according to claim 1, is characterized in that: the first described beam angle is to be more than or equal to the angle of 50 °.
4. robot for cleaning floor according to claim 1, is characterized in that: the 3rd described beam angle is to be more than or equal to the angle of 50 °.
5. robot for cleaning floor according to claim 1, is characterized in that: the second described beam angle is greater than 0 ° and is less than or equal to the angle of 15 °.
6. robot for cleaning floor according to claim 1, is characterized in that: the 4th described beam angle is greater than 0 ° and is less than or equal to the angle of 15 °.
7. robot for cleaning floor according to claim 1, is characterized in that: the first described axial line and described the 3rd axial line, described the second axial line and described the 4th axial line all taking the center line of this group light transceiver module as axis of symmetry symmetrical.
8. robot for cleaning floor according to claim 1, is characterized in that: described the first light source, secondary light source, the first light activated element, the second light activated element are arranged on same support.
9. for controlling a method for the robot for cleaning floor avoiding obstacles as described in any one of claim 1 to 8, the method comprises the steps:
Can the first described optical receiver and the continuous detection of the second optical receiver receive the first reflected light signal and the second reflected light signal, are real-time transmitted to described main control module if receive the reflected light signal that corresponding reflected light signal received;
In the time that described main control module can receive the first reflected light signal being transmitted by described the first optical receiver and can receive again the second reflected light signal being transmitted by the second described optical receiver in setting-up time, described main control module starts judgement and receives the magnitude relationship by the second intensity of reflected light of the second described optical receiver transmission at every turn, as this second intensity of reflected light receiving is less than the second intensity of reflected light that the last time receives, described master control module controls driver module is carried out the instruction of avoiding obstacles.
10. according to claim 9 for controlling the method for robot for cleaning floor avoiding obstacles, it is characterized in that: in described main control module, be provided with a light intensity threshold values, in the time that described main control module receives the first intensity of reflected light being transmitted by described the first optical receiver and is more than or equal to described light intensity threshold values, the driver module described in described master control module controls reduces robot body's pace in the situation that not changing current robot main body working direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410184885.5A CN103941735B (en) | 2014-05-05 | 2014-05-05 | Floor cleaning robot and method for controlling robot to avoid obstacle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410184885.5A CN103941735B (en) | 2014-05-05 | 2014-05-05 | Floor cleaning robot and method for controlling robot to avoid obstacle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103941735A true CN103941735A (en) | 2014-07-23 |
| CN103941735B CN103941735B (en) | 2017-02-15 |
Family
ID=51189442
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410184885.5A Active CN103941735B (en) | 2014-05-05 | 2014-05-05 | Floor cleaning robot and method for controlling robot to avoid obstacle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103941735B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105223951A (en) * | 2015-09-14 | 2016-01-06 | 苏州爱普电器有限公司 | Self-movement robot |
| CN107544494A (en) * | 2017-08-17 | 2018-01-05 | 上海美祎科技有限公司 | Sweeping robot and its barrier-avoiding method |
| CN107638128A (en) * | 2016-07-21 | 2018-01-30 | 苏州宝时得电动工具有限公司 | Dust collecting system |
| CN108519355A (en) * | 2018-02-10 | 2018-09-11 | 广东雷洋智能科技股份有限公司 | Clean robot barrier reflects material power judgment method |
| CN109471127A (en) * | 2017-09-08 | 2019-03-15 | 智棋科技股份有限公司 | Detection system for automatic device |
| CN109567678A (en) * | 2018-12-07 | 2019-04-05 | 江苏美的清洁电器股份有限公司 | The cleaning control method and its device and sweeping robot of sweeping robot |
| US10349798B2 (en) | 2016-05-17 | 2019-07-16 | Lg Electronics Inc. | Mobile robot and method of controlling the same |
| CN110269546A (en) * | 2015-07-01 | 2019-09-24 | 艾罗伯特公司 | Autonomous robot |
| US10517456B2 (en) | 2016-05-17 | 2019-12-31 | Lg Electronics Inc. | Mobile robot and method of controlling the same |
| US10656656B2 (en) | 2016-05-17 | 2020-05-19 | Lg Electronics Inc. | Mobile robot and method for controlling and detecting inclination using pattern light |
| WO2020156518A1 (en) * | 2019-02-03 | 2020-08-06 | 苏州宝时得电动工具有限公司 | Self-moving device, and obstacle detection method and obstacle detection module therefor |
| CN112153928A (en) * | 2018-05-16 | 2020-12-29 | Lg电子株式会社 | Sweeper and control method thereof |
| CN112630800A (en) * | 2019-10-09 | 2021-04-09 | 科沃斯机器人股份有限公司 | Self-moving equipment |
| CN113615376A (en) * | 2020-05-08 | 2021-11-09 | 胡斯华纳有限公司 | Outdoor robotic work tool and method for use in outdoor robotic work tool |
| JP2023502151A (en) * | 2020-01-21 | 2023-01-20 | 追▲べき▼創新科技（蘇州）有限公司 | Self-moving equipment and its distance measurement method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02227707A (en) * | 1989-03-01 | 1990-09-10 | Honda Motor Co Ltd | Position detecting device for self-traveling vehicle |
| JPH04145506A (en) * | 1990-10-05 | 1992-05-19 | Mitsubishi Electric Corp | Guiding device for optically guided unmanned carrier |
| US5170350A (en) * | 1990-06-27 | 1992-12-08 | Honda Giken Kogyo Kabushiki Kaisha | Steering control system for moving vehicle |
| JPH11190630A (en) * | 1997-12-26 | 1999-07-13 | Hitachi Zosen Corp | Position detecting device in movable body guiding installation |
| JP2000283711A (en) * | 1999-03-30 | 2000-10-13 | Tokimec Inc | Method and device for transmitting and receiving light |
| GB2394795A (en) * | 2002-10-31 | 2004-05-05 | Samsung Kwangju Electronics Co | Robot cleaner |
| CN1768683A (en) * | 2004-10-27 | 2006-05-10 | 三星光州电子株式会社 | Robot cleaner system and a method for returning to external recharging apparatus |
| CN103479307A (en) * | 2012-06-07 | 2014-01-01 | 三星电子株式会社 | Obstacle sensing module and cleaning robot including the same |
-
2014
- 2014-05-05 CN CN201410184885.5A patent/CN103941735B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02227707A (en) * | 1989-03-01 | 1990-09-10 | Honda Motor Co Ltd | Position detecting device for self-traveling vehicle |
| US5170350A (en) * | 1990-06-27 | 1992-12-08 | Honda Giken Kogyo Kabushiki Kaisha | Steering control system for moving vehicle |
| JPH04145506A (en) * | 1990-10-05 | 1992-05-19 | Mitsubishi Electric Corp | Guiding device for optically guided unmanned carrier |
| JPH11190630A (en) * | 1997-12-26 | 1999-07-13 | Hitachi Zosen Corp | Position detecting device in movable body guiding installation |
| JP2000283711A (en) * | 1999-03-30 | 2000-10-13 | Tokimec Inc | Method and device for transmitting and receiving light |
| GB2394795A (en) * | 2002-10-31 | 2004-05-05 | Samsung Kwangju Electronics Co | Robot cleaner |
| CN1768683A (en) * | 2004-10-27 | 2006-05-10 | 三星光州电子株式会社 | Robot cleaner system and a method for returning to external recharging apparatus |
| CN103479307A (en) * | 2012-06-07 | 2014-01-01 | 三星电子株式会社 | Obstacle sensing module and cleaning robot including the same |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110269546B (en) * | 2015-07-01 | 2021-04-02 | 艾罗伯特公司 | Autonomous robot |
| CN110269546A (en) * | 2015-07-01 | 2019-09-24 | 艾罗伯特公司 | Autonomous robot |
| CN105223951B (en) * | 2015-09-14 | 2018-01-26 | 苏州爱普电器有限公司 | Self-movement robot |
| CN105223951A (en) * | 2015-09-14 | 2016-01-06 | 苏州爱普电器有限公司 | Self-movement robot |
| US10517456B2 (en) | 2016-05-17 | 2019-12-31 | Lg Electronics Inc. | Mobile robot and method of controlling the same |
| US10349798B2 (en) | 2016-05-17 | 2019-07-16 | Lg Electronics Inc. | Mobile robot and method of controlling the same |
| US10656656B2 (en) | 2016-05-17 | 2020-05-19 | Lg Electronics Inc. | Mobile robot and method for controlling and detecting inclination using pattern light |
| US10456004B2 (en) | 2016-05-17 | 2019-10-29 | Lg Electronics Inc. | Mobile robot |
| CN107638128A (en) * | 2016-07-21 | 2018-01-30 | 苏州宝时得电动工具有限公司 | Dust collecting system |
| CN107638128B (en) * | 2016-07-21 | 2024-02-20 | 苏州宝时得电动工具有限公司 | Dust collection system |
| CN107544494A (en) * | 2017-08-17 | 2018-01-05 | 上海美祎科技有限公司 | Sweeping robot and its barrier-avoiding method |
| TWI671053B (en) * | 2017-09-08 | 2019-09-11 | 智棋科技股份有限公司 | Detecting system of autonomous robot |
| CN109471127A (en) * | 2017-09-08 | 2019-03-15 | 智棋科技股份有限公司 | Detection system for automatic device |
| CN108519355A (en) * | 2018-02-10 | 2018-09-11 | 广东雷洋智能科技股份有限公司 | Clean robot barrier reflects material power judgment method |
| CN112153928B (en) * | 2018-05-16 | 2022-04-01 | Lg电子株式会社 | Sweeper and control method thereof |
| CN112153928A (en) * | 2018-05-16 | 2020-12-29 | Lg电子株式会社 | Sweeper and control method thereof |
| CN109567678A (en) * | 2018-12-07 | 2019-04-05 | 江苏美的清洁电器股份有限公司 | The cleaning control method and its device and sweeping robot of sweeping robot |
| CN109567678B (en) * | 2018-12-07 | 2022-03-04 | 美智纵横科技有限责任公司 | Sweeping control method and device of sweeping robot and sweeping robot |
| WO2020156518A1 (en) * | 2019-02-03 | 2020-08-06 | 苏州宝时得电动工具有限公司 | Self-moving device, and obstacle detection method and obstacle detection module therefor |
| CN112630800A (en) * | 2019-10-09 | 2021-04-09 | 科沃斯机器人股份有限公司 | Self-moving equipment |
| JP2023502151A (en) * | 2020-01-21 | 2023-01-20 | 追▲べき▼創新科技（蘇州）有限公司 | Self-moving equipment and its distance measurement method |
| JP7274053B2 (en) | 2020-01-21 | 2023-05-15 | 追▲べき▼創新科技（蘇州）有限公司 | Self-moving equipment and its distance measurement method |
| CN113615376A (en) * | 2020-05-08 | 2021-11-09 | 胡斯华纳有限公司 | Outdoor robotic work tool and method for use in outdoor robotic work tool |
| EP3909412A1 (en) * | 2020-05-08 | 2021-11-17 | Husqvarna Ab | An outdoor robotic work tool comprising an environmental detection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103941735B (en) | 2017-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103941735A (en) | Floor cleaning robot and method for controlling robot to avoid obstacle | |
| CN103941307A (en) | Cleaning robot and controlling method thereof for avoiding barriers | |
| CN103941306A (en) | Cleaning robot and method for controlling same to avoid obstacle | |
| CN110269546B (en) | Autonomous robot | |
| CN102048499B (en) | Mobile robot system and control method thereof | |
| CN1241080C (en) | Method and system for positioning and restricting robot | |
| CN108852184B (en) | Non-blind area sweeping robot based on deep learning algorithm and sweeping control method thereof | |
| EP2457486B1 (en) | Robot cleaner and control method thereof | |
| EP2581797B1 (en) | Beacon collision avoidance method for a mobile robot system | |
| KR102388448B1 (en) | Moving robot and controlling method thereof | |
| CN105223951A (en) | Self-movement robot | |
| CN105119338A (en) | Mobile robot charging control system and method | |
| CN105361817A (en) | Automatic docking system of robot | |
| CN110393477A (en) | Self-movement robot and its ambulation control method, cleaning method, readable medium | |
| CN103948353A (en) | Docking station for robot cleaner and method for emitting docking guide signals to robot cleaner | |
| TW201334750A (en) | Control method for cleaning robots | |
| KR102637851B1 (en) | Cleaning robot | |
| US20220047142A1 (en) | Robot cleaner and method for controlling same | |
| CN106647761A (en) | Self-moving sweeper and control method thereof | |
| CN204229229U (en) | Guiding virtual wall system | |
| KR102631151B1 (en) | Cleaning robot | |
| CN206924041U (en) | A kind of anticollision device, collision-prevention device of fully-automatic intelligent sweeping robot | |
| CN108879807A (en) | Charging pile and the application charging pile seek piling method and charge control system | |
| CN206434287U (en) | Sweeper | |
| KR20100123581A (en) | Mobile robot system and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |