CN103941307B - A kind of clean robot and the method for controlling its avoiding obstacles - Google Patents
A kind of clean robot and the method for controlling its avoiding obstacles Download PDFInfo
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- CN103941307B CN103941307B CN201410184884.0A CN201410184884A CN103941307B CN 103941307 B CN103941307 B CN 103941307B CN 201410184884 A CN201410184884 A CN 201410184884A CN 103941307 B CN103941307 B CN 103941307B
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- 230000003287 optical effect Effects 0.000 claims abstract description 171
- 230000004888 barrier function Effects 0.000 claims abstract description 79
- 230000000903 blocking effect Effects 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000004140 cleaning Methods 0.000 abstract description 19
- 239000000463 material Substances 0.000 abstract description 7
- 230000011514 reflex Effects 0.000 abstract 1
- 230000008859 change Effects 0.000 description 12
- 239000003795 chemical substances by application Substances 0.000 description 9
- 239000000428 dust Substances 0.000 description 8
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- 235000004443 Ricinus communis Nutrition 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 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
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- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000006641 stabilisation 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
- 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
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of clean robot, including at least one set of light transceiver module, each group light transceiver module includes the Optical Transmit Unit with two optical transmitting sets and the light receiving unit with an optical receiver, two optical transmitting sets can send the light beam with small one and large one different beam angle, and the light emitting area corresponding to two optical transmitting sets has subregion to overlap with the optical receiving region corresponding to optical receiver respectively.The first optical transmitting set and the second optical transmitting set with different beam angle light beams can be sent by being set in each group light transceiver module, so that optical receiver receiving efficiency in the two femoral reflex light reflected received from barrier is higher, and robot judge robot body whether close to barrier when, do not influenceed by blocking surfaces material and shape, clean robot is enabled also to realize good cleaning even in the neighboring area of barrier when carrying out cleaning.
Description
Technical field
The present invention relates to a kind of clean robot and its control method.
Background technology
Clean robot is a kind of full intelligent cleaning device, and the device is in the case where being controlled by the user by clear
Autonomous carries out cleaning remaining cleaning on clean cleaning region.Because clean robot automatically moves, therefore
The barriers such as wall, furniture can be run into unavoidably in moving process.After robot and barrier collide, machine
The moving direction of people will change, and this change is difficult control, therefore, is all provided with the prior art on clean robot
Barrier sensing module is equipped with, enables to clean robot to try one's best by thing sensing module of placing obstacles and few sends out with barrier
Raw collision.
At present, the operation principle of the barrier sensing module on clean robot is to pass through sensor emission light, ultrasonic wave
Deng, and detected in the form of detection signal in the light or ultrasonic wave returned afterwards by barrier reflection.Based between detection signal
The time difference, phase difference or intensity difference, obstacle sensor discern whether to exist barrier and from sensor to barrier away from
From.Obstacle sensor can based on the reflection angle of reflected light or ultrasonic wave come distinguish from sensor to barrier away from
From.Using emit light to detect barrier sensing module exist the drawbacks of be：When blocking surfaces are not flat surface or light
During the different blocking surfaces of absorptivity, the time that barrier sensing module is able to detect that can be different, so may result in machine
Device people has apart from the distance of barrier when performing avoiding obstacles instruction and far had closely, so that robot can not complete unification
Cleanliness standard.The drawbacks of existing using ultrasonic wave come the sensing module for detecting barrier be：Acoustic emission needs certain sweep
The time is retouched, based on the reason, robot is may result in and is directly collided with barrier.
The content of the invention
For above-mentioned technical deficiency, the first object of the present invention is to provide a kind of the clear of barrier sensing efficiency high
Clean robot.
The second object of the present invention is to provide a kind of efficient, controlling party for controlling clean robot avoiding obstacles
Method.
In order to reach the first above-mentioned purpose, the present invention adopts the following technical scheme that：
A kind of clean robot, including the described robot body of robot body, driving move in region to be cleaned
And/or rotate drive module, be arranged on described robot body and go up and be used to whether there is in detection cleaning region and hinder
Hinder the barrier sensing module of thing, control the main control module of described drive module work, described barrier sensing module bag
At least one set of light transceiver module is included, the light transceiver module described in each group includes：
Optical Transmit Unit, including the first optical transmitting set provided with the first light source and the transmitting of the second light provided with secondary light source
Device, the first described optical transmitting set is with the first axial line and can send the first light beam with the first beam angle, described
First optical transmitting set is corresponding to have the first light emitting area, and the second described optical transmitting set has the second axial line and can sent
The second light beam with the second beam angle can send thin collimated light beam, and the second described optical transmitting set is corresponding to have the second light
Emitting area, the angle of the first described beam angle are more than the angle of the second described beam angle, the first described optical transmitting set
Being capable of the corresponding light beam of priority alternate emission with the second optical transmitting set；
Light receiving unit, including the optical receiver provided with light-sensitive element, described optical receiver can receive described the
One light beam runs into the first reflected light after blocking surfaces and can receive the second described light beam or described thin directional light
Beam runs into the second reflected light after blocking surfaces, and described optical receiver connects with signal with described main control module, described
Optical receiver with the 3rd axial line and the light beam with the 3rd beam angle can be received, described optical receiver correspondingly has
Optical receiving region, the angle of the 3rd described beam angle are more than the angle of the second described beam angle；
The first described light emitting area has subregion to overlap with described optical receiving region, the second described light hair
Penetrating region and described optical receiving region has subregion to overlap, the second described axial line and the 3rd described axial line phase
Hand over and form the first joining, the first described joining is located at the first described light emitting area and described optical receiving region phase
In overlapping region.In above-mentioned technical proposal, it is preferred that the first described axial line is crossed to form with the 3rd described axial line
Second joining, the distance of the first described joining to described robot body are more than the second described joining to described
Robot body distance.
In above-mentioned technical proposal, it is preferred that the first described beam angle is the angle more than or equal to 50 °.
In above-mentioned technical proposal, it is preferred that the 3rd described beam angle is the angle more than or equal to 50 °.
In above-mentioned technical proposal, it is preferred that the second described beam angle is more than 0 ° of angle for being less than or equal to 15 °.
In above-mentioned technical proposal, it is preferred that described the first optical transmitting set and the second optical transmitting set is disposed adjacent, described
First axial line and the second described axial line are generally parallel.
In above-mentioned technical proposal, it is preferred that the first described axial line is launched with the 3rd described axial line with this group of light
The center line of receiving unit is that symmetry axis is symmetrical.
In above-mentioned technical proposal, it is preferred that the first described optical transmitting set includes being used for first that installs the first light source
Frame, the second described optical transmitting set include being used for the second support for installing secondary light source, and described optical receiver includes being used to pacify
The 3rd support of light-sensitive element is filled, described first support, second support, the 3rd support are wholely set.
In order to reach the second above-mentioned goal of the invention, the present invention provides a kind of for controlling above-mentioned clean robot to avoid hindering
Hinder the method for thing, this method comprises the following steps：
Can the constantly detection of described optical receiver receive the first reflected light signal or the second reflected light signal, if connecing
The first reflected light signal or the second reflected light signal are received, then the first reflected light received or the second reflected light signal are real
When send described main control module to；
When described main control module can be received in setting time by the first reflection of described optical receiver transmission
When optical signal and can receives the second reflected light signal by described optical receiver transmission, described main control module starts to judge
Receive the magnitude relationship of the second intensity of reflected light by described optical receiver transmission every time, as this receive it is second anti-
Penetrate luminous intensity and be less than last the second intensity of reflected light received, then described master control module controls drive module is performed and avoided
The instruction of barrier.
In above-mentioned technical proposal, it is preferable that a luminous intensity threshold values is provided with described main control module, when described master control
Module receives when being more than or equal to described luminous intensity threshold values by the first intensity of reflected light of described optical receiver transmission, described
Master control module controls described in drive module reduce robot in the case where not changing current machine human agent's direction of advance
The pace of main body.
The beneficial effects of the present invention are：The first optical transmitting set of the light beam with different beam angles can be sent by setting
With the second optical transmitting set so that optical receiver can receive two kinds of different reflected lights, be sentenced with the intensity of both reflected lights
Disconnected robot body whether close to barrier when so that clean robot can not be by obstacle when carrying out cleaning
The influence of thing Facing material and shape, accurate avoiding obstacles.
Brief description of the drawings
Accompanying drawing 1 is the schematic diagram of the clean robot of the present invention；
Accompanying drawing 2 is the structural representation of the light transceiver module of the present invention；
Accompanying drawing 3 is the schematic diagram of the light transceiver module of the present invention；
Accompanying drawing 4 is the first intensity of reflected light that the optical receiver of the present invention receives at work and barrier and robot
The distance between body relation；
Accompanying drawing 5 is the second intensity of reflected light that the optical receiver of the present invention receives at work and barrier and robot
The distance between body relation；
Accompanying drawing 6 is the schematic diagram of the light transceiver module of another embodiment of the present invention；
Wherein：1st, robot body；2nd, input/output module；3rd, light transceiver module；4th, Optical Transmit Unit；5th, light
Receiving unit；41st, the first optical transmitting set；42nd, the second optical transmitting set；411st, the first light source；412nd, first support；421st, the second light
Source；422nd, second support；413rd, the first axial line；423rd, the second axial line；51st, optical receiver；511st, light-sensitive element；512nd,
Three supports；513rd, the 3rd axial line.
Embodiment
Shown embodiment is described in detail below to the utility model below in conjunction with the accompanying drawings：
Clean robot as shown in Fig. 1, the clean robot are a kind of clean robots for floor suction,
It advances simultaneously miscellaneous by being sucked from the ground in cleaning region in the case where not needing user's control in real time in region to be cleaned
Matter（For example, dust）Carry out the device in automated cleaning region to be cleaned.The clean robot includes robot body 1, cradle（Figure
Not shown in）, remote control（Not shown in figure）Deng.
Robot body 1 is provided with the cleaning module for being used for cleaning space to be cleaned（It is not shown）, for making robot master
The drive module that body 1 is moved and/or rotated（It is not shown）, receive the operational order for clean robot and show on cleaning
The input/output module 2 of robot manipulation's information, for sensing the barrier sensing module positioned at clean space barrier, use
In the data storage module for storing various data（It is not shown）, for the power module powered to robot body（It is not shown）,
Main control module for control machine human agent（It is not shown）.Wherein, before barrier sensing module is installed to robot body 1
Side（When the direct of travel viewing along clean robot）, input/output module 2 is installed in the top of robot body 1.
Cleaning module generally includes：Main brush unit, the dust being present on ground is cleaned, the dust of cleaning is directed to
Suction inlet；Side brush unit, clean close to the region of wall and corner regions.Main brush unit can be arranged on and be formed at robot body
The opening of lower bottom part（That is suction port）Place, to clean the dust accumulated on the ground of robot body present position.Opening one
As be arranged on the first half of robot body's lower bottom part.Opening can be used as sucking the dust inlet of dust.Cleaning module is also
Including the vacuum source unit being arranged in robot body, to produce suction.Vacuum source unit is used to make to be introduced in dust to enter
The dust of mouth is moved in the dust-collecting box inside robot body.
Drive module generally includes a pair of travel wheels and castor, moves robot body according to traveling control signal；Pin
Wheel can rotate to change direction of advance in robot body while keep the posture of stabilization.A pair of travel wheels can be according to right
The mode of title is medially arranged at the both sides of the bottom of robot body.A pair of travel wheels can be in the master of clean robot
Control to perform under the control of module and include motor performance that is mobile and rotating.Castor can be arranged on the front of robot body's lower bottom part
Edge portion.
Input/output module 2 is arranged on the top of robot body.Input/output module 2 includes：Multiple operations are pressed
Button, the operational order for clean robot is inputted by user；Display panel, show the letter of the operation on clean robot
Breath, for example, the information whether operated on clean robot, information on traveling mode etc..
Barrier sensing module includes multigroup smooth transceiver module 3, and these light transceiver modules 3 are uniformly distributed installation
On the periphery wall of the first half of robot body 1（Forward and backward position herein is come with the direct of travel of clean robot
Distinguish, robot body clean moved in region when, move from back to front all the time, it is referenced below it is forward and backward it is equidirectional with
This is identical）, each group light transceiver module 3 is respectively provided with a detecting area comprising obstacle detection direction and detection range
Domain.The detection direction of light transceiver module 3 be directed towards a bit robot body 1 front, some be directed towards robot master
The left front or left side of body, some are directed towards the right front or right side of robot body 1, and detection range is light transceiver module
The far and near distance that can be detected.When installing multigroup smooth transceiver module 3, it is ensured that the barrier of these light transceiver modules 3
Thing search coverage is hindered at least to cover the region corresponding to the first half of robot body 1.Light transceiver module 3 can be each
From obstacle detection region in discover whether with the presence of barrier, so as to for main control module control machine human agent 1 perform keep away
Open barrier command and foundation is provided.Following concrete structures that will be described in each group light transceiver module 3.
One group of light transceiver module 3 as shown in Figure 2, it is by Optical Transmit Unit 4 and two parts structure of light receiving unit 5
Into.Optical Transmit Unit 4 has the first optical transmitting set 41 and the second optical transmitting set 42, the first optical transmitting set 41 and the second optical transmitting set
42 are disposed adjacent, and the first optical transmitting set 41 includes the first light source 411, the first support 412 for installing the first light source 411, the
Two optical transmitting sets include secondary light source 421, the second support 422 for installing secondary light source 421.First light source 411 and second
Light source 421 can select light emitting diode（LED）Deng luminescent device, the light sent from the first light source 411 and secondary light source 421 can
Think invisible infrared ray, visible ray etc..Light receiving unit 5 includes an optical receiver 51, and optical receiver 51 can receive
First light beam runs into the first reflected light after blocking surfaces and the second light beam runs into the second reflected light after blocking surfaces.
Optical receiver 51 includes light-sensitive element 511, the 3rd support 512 for installing light-sensitive element 511.In the embodiment, in order to subtract
The quantity of few parts, first support 412, second support 422, the 3rd support 512 are wholely set.
As shown in figure 3, the first optical transmitting set 41 is with the first axial line 413 and can send with the first beam angle α's
First light beam, the first beam angle α are the angle more than or equal to 50 °.The first axial line 413 herein is the axial line of optical system,
The as optical axis or center line for the light beam that the first optical transmitting set 41 is sent, the light beam that the first optical transmitting set 41 is sent is around this first axle
Heart line 413 rotates, without the change of any optical characteristics（Following the second axial lines referred to, the 3rd axial line and the herein
One axial line meaning is identical）.Corresponding first axial line 413 of first optical transmitting set 41 and the first beam angle α launch with the first light
Region S1, this region S1 are a wide emitting area.Second optical transmitting set 42 is with the second axial line 423 and can send with
Two beam angle β the second light beam, the second beam angle β are the angle less than or equal to 15 ° more than 0, and the second optical transmitting set 42 corresponds to second
It is a narrow emitting area that the beam angle β of axial line 423 and second, which has the second light emitting area S2, this region S2,.In order that must under
The optical receiver 51 stated can be interference-free the light beam of reception first and the second light beam run into blocking surfaces transmitting after two strands
Reflected light, the first optical transmitting set 41 and the second optical transmitting set 42 are arranged to the corresponding light beam of priority alternate emission.First light is launched
First axial line 413 of device 41 is parallel with the second axial line 423 of the second optical transmitting set 42.Optical receiver 51 has the 3rd axle
Heart line 513 and the light beam with the 3rd beam angle γ can be received, the 3rd beam angle γ is the angle more than or equal to 50 °, light-receiving
Corresponding 3rd axial line 513 of device 51 and the 3rd beam angle γ have optical receiving region S3, and this region S3 is also a wide reception area
Domain.Because the first light beam and the second light beam are priority alternate emission, therefore when the first reflected light and the second reflected light can enter
When in optical receiving region, optical receiver 51 is also successively alternately to receive the first reflected light and the second reflected light.The embodiment
In, the first axial line 413 and the 3rd axial line 513 are with the center line P of this group of light transceiver module1It is symmetrical for symmetry axis
Set.First light emitting area S1 of the first optical transmitting set 41 has subregion mutually overlapping with the optical receiving region S3 of optical receiver 51
Folded, the second light emitting area S2 of the second optical transmitting set 42 has subregion mutually overlapping with the optical receiving region S3 of optical receiver 51
It is folded.First axial line 413 of the first optical transmitting set 41 and the 3rd axial line 513 of optical receiver 51 intersect being crossed to form second
Point O2, the second axial line 423 and the 3rd axial line 513 are crossed to form the first joining O1, the first joining O1Sent out positioned at the first light
Penetrate in region S1 and the equitant regions of optical receiving region S1, and the first joining O1Distance to robot body 1 is more than
Second joining O2To the distance of robot body 1.
The course of work of each group light transceiver module 3 is described below：Robot body 1 is in cleaning region to preceding
Mobile to carry out cleaning, the first optical transmitting set 41 and the priority alternate emission of the second optical transmitting set 42 have the first of wide beam angle
Light beam and the second light beam with arrow beam of light angle.Received when launching in the first optical transmitting set 41 and the second optical transmitting set 42 in the light
When there is barrier in 3 corresponding search coverage of component, the first light beam and the second light beam can be sent out after blocking surfaces are irradiated to
Raw reflection（Or diffusing reflection）The first reflected light and the second reflected light are formed respectively.The first light sent due to the first optical transmitting set 41
Beam has bigger beam angle compared with the second light beam that the second optical transmitting set 42 is sent, therefore after barrier is run into, optical receiver
51 will be firstly received the signal of the first reflected light, and as robot body 1 is nearer to barrier, optical receiver 51 receives
The intensity of the first reflected light arrived will be more and more stronger.Simultaneously, with robot body 1 close to barrier during,
Second reflected light can be progressed into optical receiving region S3 and received by optical receiver 51, because the second light emitting area S2 is
One narrow receiving area, the intensity for the second reflected light that such optical receiver 51 receives when starting is relatively low, with robot master
Body 1 is increasingly closer to barrier, and the intensity for the second reflected light that optical receiver 51 receives starts to strengthen, when barrier relative to
The position of robot body 1 is to reach the first joining O1During place, the second reflected light that now optical receiver 51 receives it is strong
Degree reaches most strong, then as robot body 1 is increasingly closer to barrier, the second intensity of reflected light that optical receiver 51 receives
Start to weaken.
The first reflected light and the second intensity of reflected light random device human agent that optical receiver 51 as shown in Figure 4,5 receives
Apart from the relation that barrier is far and near to be changed.Show that the barrier of three kinds of different appearance face colors is running into the first light beam in figure
After the second light beam, the first intensity of reflected light and the second intensity of reflected light that optical receiver can receive.Due to black surface
Higher to the absorptivity of light, grey is taken second place, and white is minimum, therefore optical receiver 51 receives the first reflective light intensity in the case of three kinds
Degree and the second intensity of reflected light differ, but the change curve passed through in figure can be seen that its total changing rule is substantially
Identical.Optical receiver 51 shown in Fig. 4 receives the first intensity of reflected light random device people corresponding to the first optical transmitting set 41
Main body is far and near different apart from barrier and caused variation relation, less and less in the distance of robot body 1 and barrier
During, the first intensity of reflected light that optical receiver 51 can receive persistently strengthens first, when barrier is relative to robot master
The position of body 1 is O at arrival the second joining mentioned above2When, the first intensity of reflected light that optical receiver 51 receives reaches
Most strong, then as robot body 1 is nearer apart from barrier, the first intensity of reflected light will gradually weaken again.Fig. 5 is illustrated that
The second intensity of reflected light change curve corresponding to the second optical transmitting set 42 that optical receiver 51 receives, its with accompanying drawing 4
Optical receiver works under same working environment, during the distance of robot body 1 and barrier are less and less, light
The second intensity of reflected light that receiver 51 can receive is being to continue enhancing at the beginning, when barrier is relative to robot body
1 position is O at arrival the first joining mentioned above1When, the second intensity of reflected light that optical receiver 51 receives reaches most
Greatly, then as robot body 1 is nearer apart from barrier, the second intensity of reflected light gradually weakens again.
Based on above-mentioned analysis, robot body 1 into the moving process close to barrier, optical receiver 51 receive the
One intensity of reflected light and the second intensity of reflected light, which first increase, then to be reduced, and for optical receiver 51, is received
The change of second intensity of reflected light is more sensitive compared with the change of the first intensity of reflected light, therefore can be by the control in main control module
Barrier process or principle are designed to following thought, i.e. whether optical receiver 51 receives corresponding to the first optical transmitting set 41
One reflected light be judge robot body 1 clean region in whether the basis of necessary being barrier, optical receiver 51 is connect
The intensity of the second reflected light corresponding to the second optical transmitting set 42 received is used as from the turning point for increasing to reduction judges machine
Human agent 1 needs to start to perform the key condition that barrier avoids instruction.
During robot body 1 is carried out towards close barrier, due to the first of the transmitting of the first optical transmitting set 41
The beam angle of light beam is more than the beam angle of the second light beam of the second optical transmitting set 42 transmitting, therefore optical receiver 51 receives first
The time point of reflected light is than receiving the time point of the second reflected light earlier.Further, since the second joining O2It is more intersecting than first
Point O1Apart from robot body 1 closer to, thus during robot body 1 is close to barrier, what optical receiver 51 received
There is peak value and decrease first in second intensity of reflected light（I.e. Strength Changes are more sensitive）, and the peak value and weaken corresponding
The relative distance of robot body 1 and barrier will not change and change with the material of blocking surfaces, be more fixed
Position.Also therefore, it is to have reached " the first joining O relative to the position of robot body 1 by barrier1" place is arranged to machine
Device human agent need perform avoiding obstacles instruction condition, with enable robot body 1 to away from barrier direction
Advance.I.e. in moving process of the robot body 1 close to barrier, when the second intensity of reflected light that optical receiver 51 receives
When starting to weaken（Cross " the first joining O1”）, robot body 1 is the instruction for starting to perform avoiding obstacles.
It is the second reflective light intensity received by constantly comparing optical receiver to judge whether intensity of reflected light starts to weaken
The size of degree is realized, when second intensity of reflected light of this acquisition（The second intensity of reflected light herein is usually a timing
Between in section the second intensity of reflected light average value, similarly hereinafter）Measured than last time the second intensity of reflected light it is low when, then it is assumed that start to subtract
It is weak.The robot body 1 of the present embodiment is not influenceed in avoiding obstacles by blocking surfaces material, as long as passing through setting
" the first joining O1" relative position, you can accurate control machine human agent around barrier region how far enter
Row cleans.
The method for being used to control the clean robot avoiding obstacles of the present embodiment is described below, this method is used for machine
Device people avoiding obstacles in operation process, each group light transceiver module 3 is simultaneously in the method, in barrier sensing module
Work, any one group of light transceiver module 3 can provide the foundation for performing avoiding obstacles instruction for main control module.Below
It is used to control clean robot to avoid with reference to the elaboration that cooperates to of one group of light transceiver module 3 therein and main control module
The method of barrier, this method are specific as follows：
In the moving process of robot body 1, the first optical transmitting set 41 and the second optical transmitting set 42 are successively alternately sent out
Go out the first light beam and the second light beam, optical receiver 51 it is in running order all the time and by the first reflected light signal received with/
Or second reflected light signal be real-time transmitted to main control module.When main control module receives the first reflection transmitted by optical receiver 51
During optical signal, you can judge that robot body 1 has barrier in the detection zone positioned at the transceiver module 3, this
When main control module continue to monitor it in the case where the basis of the first reflected light signal transmitted by optical receiver 51 can be received and can connect
The second reflected light signal transmitted by optical receiver 51 is received, if main control module is in setting time（This setting time is master control
The time set in module, only by the test of this setting time, it just can be shown that main control module can continue, stably receive light and connect
Receive the first and second intensity of reflected light signal that device is sent）The first reflected light signal transmitted by optical receiver 51 can be received again
When can receive the second reflected light signal transmitted by optical receiver 51, then main control module starts to judge to arrive by optical receiver every time
The magnitude relationship of second intensity of reflected light of 51 transmission, as this receives the second intensity of reflected light transmitted by optical receiver 51
The second intensity of reflected light transmitted by optical receiver 51 is received less than the last time（I.e. barrier is equivalent to robot body 1
Position is the position for having passed over " the first joining "）, then main control module to drive module send perform avoiding obstacles finger
Order, drive module control machine human agent 1 move to the direction away from barrier.
Above-mentioned main control module determines whether that it is to judge machine to receive the first reflected light signal transmitted by optical receiver 51
It is basic existing for barrier whether human agent 1 is having in the search coverage of the current light transceiver module 3, if receive by
The first reflected light signal that optical receiver 51 transmits, then show that robot body 1 certainly exists barrier in corresponding search coverage
Hinder thing, only by this step, be just avoided that the maloperation avoiding obstacles during traveling of robot body 1 instruct.In master
Control module can receive the first reflected light signal transmitted by optical receiver 51 in the case of, then start judge every time receive by
The magnitude relationship for the second intensity of reflected light that optical receiver 51 transmits, such as this, to receive transmitted by optical receiver 51 second anti-
Penetrate luminous intensity and receive the second intensity of reflected light transmitted by optical receiver 51 less than the last time, that is, receive by optical receiver 51
The second intensity of reflected light received starts to weaken, then shows barrier relative to the position of robot body 1 to have passed over
First joining O1Position, now robot body 1 must be immediately performed the instruction of avoiding obstacles, that is, change current mobile
Direction is to prevent robot body 1 from being collided with barrier.
In clean robot barrier sensing module in the embodiment, due to equal in each group of light transceiver module 3
The light beam with different beam angles can be sent by employing two optical transmitting sets, so when in use, no matter the surface material of barrier
Matter and shape are how different, the barriers that light transceiver module 3 can be sensed accurately, and because last execution is avoided
The instruction of barrier is rather than the specific intensity reflected light values based on detecting whether intensity of reflected light is in reducing tendency, because
This, the clean robot is when running into the blocking surfaces with unlike material, itself and barrier when it performs avoiding obstacles instruction
Hinder the distance of thing essentially identical, so that the clean robot can perform cleaning in barrier proximity
Without being collided with barrier.
In addition, in order that the instruction of avoiding obstacles, master control mould can performed with time enough by obtaining robot body 1
A luminous intensity threshold values is provided with block, is more than etc. when main control module receives the first intensity of reflected light for being transmitted by optical receiver 51
When this luminous intensity threshold values, master control module controls drive module reduces robot master in the case where not changing current direction of advance
The pace of body 1.This step can avoid robot from having little time to complete upcoming execution due to effect of inertia avoiding
Barrier command.Because the luminous intensity threshold values is a concrete numerical value, therefore robot body 1 runs into Facing material difference（Mainly
It is absorptivity difference）Barrier when, when performing reduction of speed instruction, it is apart from the far and near also different of barrier.
In above-described embodiment, it is the optical transmitting set that can send thin collimated light beam that can also select the second optical transmitting set 42
It is the schematic diagram of the light transceiver module of another embodiment of the present invention as shown in Figure 6 to substitute；Selected in this embodiment
Second optical transmitting set 42 ' is the optical transmitting set that can send thin collimated light beam, forms the second narrower light emitting area
S2 ', the effect that such second optical transmitting set 42 ' reaches and the basic phase of effect of the second optical transmitting set 42 in above-described embodiment
Together, will not be repeated here.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all according to the present invention
The equivalent change or modification that spirit is made, should all be included within the scope of the present invention.
Claims (10)
1. a kind of clean robot, including the described robot body of robot body, driving in region to be cleaned it is mobile with/
Or rotate drive module, be arranged on described robot body and go up and be used to detection and clean in region whether there is barrier
Barrier sensing module, the main control module of the described drive module work of control, it is characterised in that：Described barrier sensing
Module includes at least one set of light transceiver module, and the light transceiver module described in each group includes：
Optical Transmit Unit, including the first optical transmitting set provided with the first light source and the second optical transmitting set provided with secondary light source, institute
The first optical transmitting set stated is with the first axial line and can send the first light beam with the first beam angle, the first described light
Transmitter is corresponding to have the first light emitting area, and the second described optical transmitting set is with the second axial line and can send with the
Second light beam of two beam angles can send thin collimated light beam, and the second described optical transmitting set is corresponding to have the second smooth launch site
Domain, the angle of the first described beam angle are more than the angle of the second described beam angle, the first described optical transmitting set and second
Optical transmitting set being capable of the corresponding light beam of priority alternate emission；
Light receiving unit, including the optical receiver provided with light-sensitive element, described optical receiver can receive the first described light
Beam runs into the first reflected light after blocking surfaces and can receive the second described light beam or described thin collimated light beam is met
The second reflected light after to blocking surfaces, described optical receiver connect with signal with described main control module, described light
Receiver is with the 3rd axial line and can receive the light beam with the 3rd beam angle, and described optical receiver correspondingly connects with light
Region is received, the angle of the 3rd described beam angle is more than the angle of the second described beam angle；
The first described light emitting area has subregion to overlap with described optical receiving region, the described second smooth launch site
Domain has subregion to overlap with described optical receiving region, and the second described axial line intersects shape with the 3rd described axial line
Into the first joining, the first described joining is located at the first described light emitting area and overlapped with described optical receiving region
Region in.
2. clean robot according to claim 1, it is characterised in that：The first described axial line and the 3rd described axle
Heart line is crossed to form the second joining, and the distance of the first described joining to described robot body is more than described second
Joining to described robot body distance.
3. clean robot according to claim 1, it is characterised in that：The first described beam angle is more than or equal to 50 °
Angle.
4. clean robot according to claim 1, it is characterised in that：The 3rd described beam angle is more than or equal to 50 °
Angle.
5. clean robot according to claim 1, it is characterised in that：The second described beam angle is less than or equal to more than 0 °
15 ° of angle.
6. clean robot according to claim 1, it is characterised in that：The first described axial line and the 3rd described axle
Heart line is symmetrical as symmetry axis using the center line of this group of light transceiver module.
7. clean robot according to claim 1, it is characterised in that：The first described optical transmitting set and the transmitting of the second light
Device is disposed adjacent, and the first described axial line and the second described axial line are generally parallel.
8. clean robot according to claim 1, it is characterised in that：The first described optical transmitting set includes being used to install
The first support of first light source, the second described optical transmitting set include being used for the second support for installing secondary light source, described light
Receiver includes being used for the 3rd support for installing light-sensitive element, and described first support, second support, the 3rd support are integrally set
Put.
9. a kind of method for being used to control the clean robot avoiding obstacles as described in any one in claim 1 to 8,
This method comprises the following steps：
Can the constantly detection of described optical receiver receive the first reflected light signal or the second reflected light signal, if receiving
First reflected light signal or the second reflected light signal, then the first reflected light or the second reflected light signal received pass in real time
Give described main control module；
Believed when described main control module can receive in setting time by the first reflected light of described optical receiver transmission
When number and can receives the second reflected light signal by described optical receiver transmission, described main control module starts to judge each
Receive the magnitude relationship of the second intensity of reflected light by described optical receiver transmission, the second reflected light received such as this
Intensity is less than last the second intensity of reflected light received, then described master control module controls drive module performs and avoids obstacle
The instruction of thing.
10. the method according to claim 9 for controlling clean robot avoiding obstacles, it is characterised in that：It is described
Main control module in be provided with a luminous intensity threshold values, when described main control module is received by the of described optical receiver transmission
When one intensity of reflected light is more than or equal to described luminous intensity threshold values, the drive module described in described master control module controls is not changing
The pace of robot body is reduced in the case of becoming current machine human agent's direction of advance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410184884.0A CN103941307B (en) | 2014-01-13 | 2014-05-05 | A kind of clean robot and the method for controlling its avoiding obstacles |
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| CN201410014085.9 | 2014-01-13 | ||
| CN201410014085 | 2014-01-13 | ||
| CN2014100140859 | 2014-01-13 | ||
| CN201410184884.0A CN103941307B (en) | 2014-01-13 | 2014-05-05 | A kind of clean robot and the method for controlling its avoiding obstacles |
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| CN103941307B true CN103941307B (en) | 2018-02-16 |
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| WO2019199098A1 (en) * | 2018-04-13 | 2019-10-17 | Lg Electronics Inc. | Robot cleaner |
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| CN103941307A (en) | 2014-07-23 |
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