CN103376801B - From moving land disposal robot and the control method of cleaning thereof - Google Patents
From moving land disposal robot and the control method of cleaning thereof Download PDFInfo
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- CN103376801B CN103376801B CN201210108722.XA CN201210108722A CN103376801B CN 103376801 B CN103376801 B CN 103376801B CN 201210108722 A CN201210108722 A CN 201210108722A CN 103376801 B CN103376801 B CN 103376801B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 74
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000005295 random walk Methods 0.000 claims abstract description 17
- 230000004888 barrier function Effects 0.000 claims description 40
- 238000010586 diagram Methods 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000004018 waxing Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
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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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention belongs to a kind of field in intelligent robotics, specifically, relate to a kind of from moving land disposal robot and the control method of cleaning.Control method specifically includes following steps: step S0: robot random walk；Step S1: continue random walk after robot collision obstacle；Step S2: control unit starts to perform zonule cleaning in the range of judging that the straightway distance of double collision is between first threshold and Second Threshold；Otherwise, step S0 is returned.The present invention includes functional part, walking unit, driver element, obstacle sensor, control unit from moving land disposal robot；Described control unit controls described functional part, driver element work by above-mentioned control method, and the present invention is suitable for cleaning corner or elongated zones.
Description
Technical field
The invention belongs to a kind of field in intelligent robotics, specifically, relate to a kind of from moving land disposal robot and the control method of cleaning.
Background technology
At present, existing clean robot is substantially carried out three kinds of cleaning modes: random cleaning modes, fixed point cleaning modes and wall/barrier follow cleaning modes (also referred to as welt cleaning).When ground has region messy, robot carries out fixed point and cleans such as spiral cleaning this dirty region；When need not ground is carried out fixed point cleaning, random model, i.e. robot random walk can be used, in order to robot effectively covers whole ground；When needing the wall edge omitting random cleaning modes or barrier edge to be cleaned, robot uses wall/barrier to follow cleaning modes, i.e. cleans along barrier edge.Above-mentioned three kind cleaning modes are just discussed in detail such as United States Patent (USP) US7388343, sweeping robot typically passes through respectively or combines above-mentioned three kinds of cleaning modes to be effectively cleaned target floor.
The clean robot most of the time is in random cleaning modes, i.e. arbitrarily walk on working surface limit limit clean, there is no fixing cleaning path, main brush and limit brush cooperating can be used during cleaning, as run into barrier, collision rift leaves barrier, is further continued for cleaning, and it will not purposely clean along barrier.If the base of barrier is less or irregular, such as table leg, stool lower limb etc., can get around in random cleaning modes, do not interfere with cleaning effect, but, some narrow regions or corner be there will be the phenomenon that leakage cleans, make cleaning not thorough, have impact on cleaning efficiency.When clean robot performs fixed point cleaning modes, generally barrier border area cannot be cleaned.Particularly, after clean robot execution wall/barrier follows cleaning modes, wall or common barrier edge are only cleaned by it relative to the region of robot diameter, are cleaned region slightly remote from barrier edge not yet.
Summary of the invention
The technical problem to be solved is, for the deficiencies in the prior art, it is provided that a kind of from moving land disposal robot and the control method of cleaning, is suitable for cleaning corner or elongated zones.
The present invention, from the control method of moving land disposal robot cleaning, specifically includes following steps:
Step S0: robot random walk；
Step S1: continue random walk after robot collision obstacle；
Step S2: control unit starts to perform zonule cleaning in the range of judging that the straightway distance of double collision is between first threshold and Second Threshold；Otherwise, step S0 is returned.
Further, described step S2 small area cleaning specifically comprises the steps of:
Step S21: control robot and be cleaned work towards the first side region；
Step S22: when judging the bottom arriving at the first side region, control robot turns to after exiting the first side region, enters step S23；Otherwise, step S21 is returned；
Step S23: robot is cleaned work towards the second reverse side region；
Step S24: when judging the bottom arriving at the second side region, stops zonule cleaning and exits zonule；Otherwise, step S23 is returned.
The method exiting zonule in step S24 specifically comprises the steps of:
Step S241: robot welt walking；
Step S242: judge when short lines distance reaches three threshold values of whole zonule of position deviation at robot place, return step S0；Otherwise, step S241 is returned.
Described step S2 small area cleaning specifically comprises the steps of:
Step S21 ': control robot and be cleaned work towards the first side region；
Step S25: judge that, when walking straightway is not in the range of between first threshold and Second Threshold, control robot turns to after exiting the first side region, enters step S23 '；Otherwise, step S21 is returned '；
Step S23 ': robot is cleaned work towards the second reverse side region；
Step S27: judge, when walking straightway is not in the range of between first threshold and Second Threshold, to stop zonule cleaning and also exit this zonule；Otherwise, step S23 is returned '.
The method exiting zonule in step S27 specifically comprises the steps of:
Step S271: when straightway distance of walking is more than or equal to Second Threshold, return step S0；Otherwise, step S272 is entered；
Step S272: robot welt walking；
Step S273: judge when short lines distance reaches three threshold values of whole zonule of position deviation at robot place, return step S0；Otherwise, step S272 is returned.
Wherein, described first threshold is 30cm, and Second Threshold is 180cm, and described 3rd threshold value is 100cm.
Described cleaning is that arc type cleans, and described arc type cleans path and includes that welt section and straightway, described straightway at least one end intersect with barrier.
Described walking straightway distance is less than or equal to Second Threshold.
Described welt segment distance is the 2/3 of robot width.
When robot welt travel distance rotates after predetermined angular after collision obstacle less than 2/3 or robot ambulation straightway distance of robot width less than Second Threshold or robot, it is judged that robot arrives at the bottom of a side region.
The present invention includes functional part, walking unit, driver element, obstacle sensor, control unit from moving land disposal robot；
Whether described obstacle sensor has a barrier for the front end of sniffing robot or side, and by the information conveyance that detects to described control unit；
Described control unit is connected with described functional part and driver element respectively, driver element is connected with described walking unit, described driver element accepts the instruction of control unit, driving described walking unit by predetermined route walking, described functional part accepts the instruction of control unit and carries out floor treatment by predetermined mode of operation；
Described control unit controls described functional part, driver element work by above-mentioned control method.
Described also include being positioned at end, described robot ambulation direction from moving land disposal robot hit plate, be provided with described obstacle sensor on plate hitting.
Accompanying drawing explanation
Fig. 1 is the structure composition frame chart from mobile clean robot of the present invention；
Fig. 2 is the surface structure from mobile clean robot of the present invention；
Fig. 3 is the schematic flow sheet of the control method embodiment one from mobile clean robot cleaning of the present invention；
Fig. 4 is the walking schematic diagram of the control method embodiment one from mobile clean robot cleaning of the present invention；
Fig. 5 is the schematic flow sheet of the control method embodiment two from mobile clean robot cleaning of the present invention；
Fig. 6 is the walking schematic diagram of the control method embodiment two from mobile clean robot cleaning of the present invention.
Detailed description of the invention
Embodiment one
Such as the structure composition frame chart from moving land disposal robot that Fig. 1 is the present invention, cleaning part 1, walking unit 2, driver element 3, the obstacle sensor 4 being positioned at robot front end and control unit 5 should be included from moving land disposal robot.As in figure 2 it is shown, should be sweeping robot from moving land disposal robot, this sweeping robot includes body 6, is provided with in the front portion of this body 6 and hits plate 61, and obstacle sensor 4 is arranged on and hits on plate 61.Robot typically break the barriers sensor detection periphery barrier carry out avoiding or welt.Concrete, this obstacle sensor can be ultrasonic sensor, infrared sensor, travel switch etc..When working such as ultrasonic sensor, ultrasonic signal is transmitted into the travel path of robot, and receives the ultrasonic signal being reflected back from barrier, so that it is determined that whether barrier exists and from the distance of barrier.As infrared sensor comprises infrared transmitter and receptor, infrared remote receiver receives the infrared ray being reflected back from barrier, determines whether barrier exists and from the distance of barrier.
Robot of the present invention is additionally provided with range finder, as connected encoder in travel wheel, and by calculating the travel distance of the number of revolutions robot measurement of wheel.It addition, robot is additionally provided with direction sensor, such as code-disc, acceleration transducer or gyroscope etc., it is used for judging and controlling the direct of travel of robot.
Zonule to be cleaned, robot first has to identify zonule.If the distance between two barriers is not more than certain numerical value, then it may be assumed that the region between two barriers is zonule.Such as elongated zones such as corridors, when the distance between two parallel metopes is less than certain numerical value such as 2m, for zonule；Or room right-angle corner, diagonal be square corner determined by 2m be zonule；Or when the distance between sofa and metope is less than 2m, the region between sofa and metope is zonule.It practice, clean with welt cleaning modes by swept for room most area due to random, therefore it is improper that region bigger for the distance between two barriers is defined as zonule.Therefore, it is possible to by robot collide two barriers and calculate the travel distance of this robot within the specific limits time, determine that robot arrives at zonule.Specifically, robot control unit arranges first threshold and Second Threshold, when the travel distance when robot collides two barriers is between this two threshold value, it is judged that robot arrives at zonule thus carries out zonule cleaning.
It is described in detail below how the present invention cleans zonule from moving land disposal robot, as cleaned corner areas, elongated zones, zonule between common barrier and metope or the zonule etc. between common barrier.
As shown in Figure 3-4, after turning on the power, in room, random walk (step S0) is started from moving land disposal robot, what during random walk, robot front end was arranged hit plate can collide with barrier (such as metope or common barrier etc.), hits the obstacle sensor 4 arranged on plate and signal is passed to control unit.Being provided with first threshold and Second Threshold in the control unit 5 of robot, it is also preferred that the left first threshold is 30cm, Second Threshold is 180cm.Random walk (step S1) is continued after robot the first collision obstacle, when robot second time collision obstacle, robot calculate this first time, second time collision between air line distance whether between 30～180cm, if not existing, then robot will continue random walk.When robot third time collision obstacle, control unit 5 continues to calculate the air line distance between second time, third time collision.Particularly, when the air line distance when between the robot double collision of detection is in the range of 30～180cm (step S2), control unit 5 decides that and enters zonule, thus starts zonule cleaning modes；Otherwise, robot continues random walk, until meeting the condition starting this zonule cleaning modes.
After zonule cleaning modes starts, robot begins to perform zonule cleaning works, and this region is cleaned by robot according to the walking path set specifically, such as arc type, Z-shaped, W type etc., to guarantee to be swept into corner or the edge of metope/barrier.Such as, using arc type as the cleaning path set, the process cleaning zonule is as follows: set up coordinate axes X-axis with the straight line of the double collision of robot, control unit controls robot and deflects towards corresponding coordinate axes Y direction, metope/common barrier welt along second time collision cleans, the distance that welt cleans is about the 2/3 of robot width, then straight line returns the metope/common barrier welt cleaning of collision for the first time, so repeat the action of a welt-straight line-welt, as shown in Figure 4, the path that its arc type cleans is divided into straightway and welt section.Path according to Fig. 4, robot carries out cleaning (step S21) first towards i.e. the first side region on the right side of X-axis bottom corner, straightway distance constantly reduces, then, judge whether robot arrives at the bottom (step S22) of the first side region, as when straightway distance is less than or equal to first threshold 30cm, control unit judges to have arrived bottom the first side region of corner, then this most swept side region is exited, then start the second side region carried out in the opposite direction on the left of arc type cleaning i.e. X-axis to carry out cleaning (step S23), until being swept into the bottom of opposite side, judge whether robot arrives at the bottom (step S24) of the second side region the most afterwards, as when judging straightway distance less than or equal to first threshold 30cm, thus complete the cleaning of the second side region.Now, the cleaning of whole zonule terminates.It should be noted that, in the diagram, when arc type cleans reverse second side cleaning, only have one barrier of metope, when recording straightway distance and having reached Second Threshold 180cm, robot acquiescence has been collided the edge of another barrier and has i.e. been collided virtual obstacles, and control unit carries out virtual welt walking, that is straightway distance can not exceed Second Threshold 180cm, and this straightway at least one end is intersected with metope/barrier.It addition, robot can also judge whether to arrive at the bottom of zonule otherwise in step S24, as welt section distance less than robot body width 2/3 or be arranged on the obstacle sensor of robot both sides and be simultaneously sensed obstacle signal；Or when robot rotates to an angle such as 150 degree, again sense obstacle signal；Or after rotating to an angle, machine center abscissa or vertical coordinate keep constant or vary less.
Robot the most first cleans a side region, then reversely cleans second time region, such as Fig. 4.When robot judges the distance between twice collision for the first time between first threshold and Second Threshold, twice point of impingement a1 (x1, y1) of robot records and a2 (x2, y2) also set up the system of axis with a1a2 place straight line.When setting up x-axis with a1a2 place straight line, constantly increased by Y coordinate or constantly reduce, judging that robot cleans towards the first side or the second side region all the time.So, robot just can arrive at two corners in room and complete zonule and clean.
After zonule has cleaned, control unit controls Robot metope/barrier welt walking (step S241), when the short lines distance recording robot distance zonule reaches the 3rd threshold value such as 100cm (step S242), judging that robot has logged out this zonule, control unit controls robot and starts random walk.As shown in Figure 4, A indication route is that front the first side region started cleans, and B indication route is that reverse side the second side region cleans, and C indication route is that welt cleans in complete cleaning path, zonule.
Embodiment two
As seen in figs. 5-6, the present invention provides another kind of from the control method of moving land disposal robot zonule cleaning.
After turning on the power equally, robot starts random walk (step S0) in room, random walk (step S1) is continued after robot collision obstacle, when the air line distance (step S2) in the range of 30～180cm recording double collision, control unit decides that and enters zonule, starts zonule cleaning modes.
After this pattern starts, robot begins to perform zonule cleaning works, it is assumed that the path also according to arc type cleans.Robot first carries out cleaning (step S21 ') towards side, when judge straightway distance that arc type is walked in the range of 30～180cm, control unit control robot walks on；When judging that walking straightway distance is the most within the range (step S25), control unit controls robot and exits this side region, then starts the second side region in the opposite direction and carries out arc type cleaning (step S23 ').Arc type walking manner described in the present embodiment is identical with embodiment one.
When recording the straightway of arc type walking apart from time not in the range of 30～180cm (step S27), there are two kinds of situations: when judging straightway distance more than or equal to Second Threshold 180cm (step 271), control unit controls robot and starts random walk, as shown in Figure 6, A indication route is that the front started cleans, B indication route is that reverse side cleans, and C indication route is random cleaning；When distance is less than or equal to first threshold 30cm, judge to have reached the bottom of zonule, robot completes zonule cleaning works, control unit controls robot and exits this zonule, control unit controls robot along along metope/barrier welt walking (step S272) specifically, recording (step S273) when the short lines distance of robot distance zonule reaches the 3rd threshold value such as 100cm by coordinate axes relation, control unit control robot starts random walk.
In above-described embodiment, first threshold, Second Threshold, the 3rd threshold value are equal relevant with walking path with the size of robot itself, and user can be revised the most voluntarily.As the biggest or smaller in wished the zonule that robot cleans, corresponding can increase or reduce Second Threshold；When and for example machine dimensions itself is bigger, corresponding increase first threshold and the 3rd threshold value.Additionally, in addition to the self-movement robot described by above-described embodiment has cleaning function, this self-movement robot can also is that waxing robot, by the Wax polishing device (i.e. functional part) stretched out outside robot, make self-movement robot when welt moves, also can be waxed on the ground of welt, the Wax polishing device of this sidepiece can be to fix to stretch out in outside robot, it is also possible in flexible shape.Heretofore described from moving land disposal robot, can be according to actual function needs, in floor treatment robot, it is provided with different functional parts, such as: cleaning unit, waxing unit, polishing unit etc., thus realizes the needs that ground different operating is processed.
Claims (11)
1. the control method from moving land disposal robot cleaning, it is characterised in that specifically include following steps:
Step S0: robot random walk；
Step S1: continue random walk after robot collision obstacle；
Step S2: control unit starts to perform zonule cleaning in the range of judging that the straightway distance of double collision is between first threshold and Second Threshold；Otherwise, step S0 is returned.
2. control method as claimed in claim 1, it is characterised in that described step S2 small area cleaning specifically comprises the steps of:
Step S21: control robot and be cleaned work towards the first side region；
Step S22: when judging the bottom arriving at the first side region, control robot turns to after exiting the first side region, enters step S23；Otherwise, step S21 is returned；
Step S23: robot is cleaned work towards the second reverse side region；
Step S24: when judging the bottom arriving at the second side region, stops zonule cleaning and exits zonule；Otherwise, step S23 is returned.
3. control method as claimed in claim 2, it is characterised in that the method exiting zonule in step S24 specifically comprises the steps of:
Step S241: robot welt walking；
Step S242: judge when short lines distance reaches three threshold values of whole zonule of position deviation at robot place, return step S0；Otherwise, step S241 is returned.
4. control method as claimed in claim 1, it is characterised in that described step S2 small area cleaning specifically comprises the steps of:
Step S21 ': control robot and be cleaned work towards the first side region；
Step S25: judge that, when walking straightway is not in the range of between first threshold and Second Threshold, control robot turns to after exiting the first side region, enters step S23 '；Otherwise, step S21 is returned '；
Step S23 ': robot is cleaned work towards the second reverse side region；
Step S27: judge, when walking straightway is not in the range of between first threshold and Second Threshold, to stop zonule cleaning and also exit this zonule；Otherwise, step S23 is returned '.
5. control method as claimed in claim 4, it is characterised in that the method exiting zonule in step S27 specifically comprises the steps of:
Step S271: when straightway distance of walking is more than or equal to Second Threshold, return step S0；Otherwise, step S272 is entered；
Step S272: robot welt walking；
Step S273: judge when short lines distance reaches three threshold values of whole zonule of position deviation at robot place, return step S0；Otherwise, step S272 is returned.
6. control method as claimed in claim 1, it is characterised in that described first threshold is 30cm, and Second Threshold is 180cm.
7. the control method as described in claim 3 or 5, it is characterised in that described 3rd threshold value is 100cm.
8. the control method as described in claim 2 or 4, it is characterised in that described cleaning is that arc type cleans, and described arc type cleans path and includes that welt section and straightway, described straightway at least one end intersect with barrier.
9. control method as claimed in claim 2, it is characterised in that: the walking straightway distance in described step S21 or step S23 is less than or equal to Second Threshold.
10. control method as claimed in claim 9, it is characterised in that described cleaning is that arc type cleans, and described arc type cleans path and includes that welt section and straightway, described welt segment distance are the 2/3 of robot width.
11. control methods as claimed in claim 2, it is characterised in that: described step S22 or step S24 judging, robot arrives at the actual conditions of sections bottom and is: robot welt travel distance is less than 2/3 or robot ambulation straightway distance of robot width less than collision obstacle after Second Threshold or robot rotation predetermined angular.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210108722.XA CN103376801B (en) | 2012-04-13 | 2012-04-13 | From moving land disposal robot and the control method of cleaning thereof |
| JP2015504849A JP6549033B2 (en) | 2012-04-13 | 2013-03-29 | Autonomous mobile ground processing robot and control method of its cleaning work |
| PCT/CN2013/073425 WO2013152675A1 (en) | 2012-04-13 | 2013-03-29 | Self-moving ground treatment robot and cleaning work control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210108722.XA CN103376801B (en) | 2012-04-13 | 2012-04-13 | From moving land disposal robot and the control method of cleaning thereof |
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| CN103376801A CN103376801A (en) | 2013-10-30 |
| CN103376801B true CN103376801B (en) | 2016-08-03 |
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| CN201210108722.XA Active CN103376801B (en) | 2012-04-13 | 2012-04-13 | From moving land disposal robot and the control method of cleaning thereof |
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| JP (1) | JP6549033B2 (en) |
| CN (1) | CN103376801B (en) |
| WO (1) | WO2013152675A1 (en) |
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| JP2015513161A (en) | 2015-04-30 |
| WO2013152675A1 (en) | 2013-10-17 |
| JP6549033B2 (en) | 2019-07-24 |
| CN103376801A (en) | 2013-10-30 |
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