CN103941735B - 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
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- CN103941735B CN103941735B CN201410184885.5A CN201410184885A CN103941735B CN 103941735 B CN103941735 B CN 103941735B CN 201410184885 A CN201410184885 A CN 201410184885A CN 103941735 B CN103941735 B CN 103941735B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims description 30
- 230000003287 optical effect Effects 0.000 claims description 192
- 230000004888 barrier function Effects 0.000 claims description 74
- 238000001514 detection method Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000000903 blocking effect Effects 0.000 claims description 11
- 230000000149 penetrating effect 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
- 230000008859 change Effects 0.000 description 9
- 239000000428 dust Substances 0.000 description 8
- 239000003795 chemical substances by application Substances 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000002604 ultrasonography Methods 0.000 description 3
- 235000004443 Ricinus communis Nutrition 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 241000222065 Lycoperdon Species 0.000 description 1
- 241000768494 Polymorphum Species 0.000 description 1
- 238000002835 absorbance Methods 0.000 description 1
- 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
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000009958 sewing 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
- G05D1/0231—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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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
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 a kind of robot for cleaning floor and the method for controlling its avoiding obstacles.
Background technology
Robot for cleaning floor is a kind of full intelligent cleaning device, and this device passes through in the case of being controlled by the user
On the cleaning region cleaned, autonomous are cleaned remaining cleaning.Because robot for cleaning floor is to automatically move
, the barriers such as wall, furniture can be run into therefore in moving process unavoidably.Once robot is collided with barrier
Afterwards, the moving direction of robot will change, and this change is difficult to control, and therefore, prior art sewing ground is clear
Barrier sensing module is provided with clean robot, thing sensing module enables to robot for cleaning floor by placing obstacles
Few colliding with barrier as far as possible.
At present, the operation principle of the barrier sensing module on robot for cleaning floor is by sensor emission light, surpasses
Sound wave etc., and the detection light of return or ultrasound wave after being reflected by barrier in the form of detection signal.Based on detection signal
Between the time difference, phase contrast or intensity difference, obstacle sensor discerns whether there is barrier and from sensor to barrier
Distance.Obstacle sensor can reflection angle based on reflected light or ultrasound wave distinguishing from sensor to barrier
Distance.Using emit light to detect barrier sensing module exist the drawbacks of be：When blocking surfaces be not flat surface or
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
Robot has apart from the distance of barrier when executing avoiding obstacles instruction and far has closely, so that robot can not complete to unite
One cleanliness standard.Detect that using ultrasound wave the sensing module of barrier the drawbacks of presence is：Acoustic emission needs certain
Sweep time, based on this reason, may result in robot and directly collide with barrier.
Content of the invention
For above-mentioned technical deficiency, the first object of the present invention is the ground providing a kind of barrier to sense efficiency high
Face clean robot.
The second object of the present invention is to provide a kind of efficient, control for controlling robot for cleaning floor avoiding obstacles
Method processed.
In order to reach the first above-mentioned purpose, the present invention adopts the following technical scheme that：
A kind of robot for cleaning floor, including robot body, drives described robot body in region to be cleaned
Mobile and/or rotate drive module, be arranged on described robot body and go up and whether be used to detect in region to be cleaned
The barrier sensing module that there is barrier, the main control module controlling described drive module work it is characterised in that：Described
Barrier sensing module includes least one set light transceiver module, and the light transceiver module described in each group includes：
Optical Transmit Unit, including the first optical transmitting set being provided with the first light source and the second light transmitting being provided with secondary light source
Device, the first described optical transmitting set has the first axial line and can send first light beam with the first beam angle, described
First optical transmitting set correspondence has the first light emitting area, and the second described optical transmitting set has the second axial line and can send
There is the second light beam of the second beam angle or the first thin collimated light beam can be sent, described second optical transmitting set correspondence has the
Two light emitting areas, the first described optical transmitting set and the corresponding light beam of the second optical transmitting set priority alternate emission；
Light receiving unit, including being provided with the first optical receiver of the first light-sensitive element and be provided with the second of the second light-sensitive element
Optical receiver, described the first optical receiver is used for receiving after the light beam that described first optical transmitting set sends runs into blocking surfaces
The first reflected light producing, the second described optical receiver runs into obstacle for receiving the light beam that described second optical transmitting set sends
The second reflected light producing behind thing surface, the first described optical receiver and the second optical receiver all with described main control module phase
Signal connects, and the first described optical receiver has the 3rd axial line and can receive the light beam with the 3rd beam angle, described
First optical receiver correspondence there is the first optical receiving region, the second described optical receiver has the 4th axial line and can connect
Receive and there is the light beam of the 4th beam angle or one second thin collimated light beam can be received, described second optical receiver correspondence has the
Two optical receiving regions, the angle of the second described beam angle is less than the angle of the first described beam angle and the 3rd beam angle simultaneously
Degree, the angle of the 4th described beam angle is less than the angle of the first described beam angle and the 3rd beam angle simultaneously；Described
One light emitting area has subregion to overlap with the first described optical receiving region, described the second light emitting area with described
The second optical receiving region have subregion to overlap, described the second axial line and the 4th described axial line are crossed to form the
One joining, the first described joining is overlapped with the first described optical receiving region positioned at the first described light emitting area
Region in.
It is preferred that the first described axial line and the 3rd described axial line are crossed to form second in technique scheme
Joining, the distance of the first joining to robot body 1 is more than the second joining to the distance of robot body.
It is preferred that the first described beam angle is the angle more than or equal to 50 ° in technique scheme.
It is preferred that the 3rd described beam angle is the angle more than or equal to 50 ° in technique scheme.
It is preferred that the second described beam angle is more than 0 ° of angle less than or equal to 15 ° in technique scheme.
It is preferred that the 4th described beam angle is more than 0 ° of angle less than or equal to 15 ° in technique scheme.
It is preferred that the first described axial line and the 3rd described axial line, the second described axle in technique scheme
Heart line is all symmetrical for axis of symmetry with the centrage of this group light transceiver module with described 4th axial line.
In technique scheme it is preferred that the first described light source, secondary light source, the first light-sensitive element, second photosensitive yuan
Part is arranged on same support.
In order to reach the second above-mentioned goal of the invention, the present invention adopts the following technical scheme that：One kind is used for controlling above-mentionedly
The method of face clean robot avoiding obstacles, the method comprises the steps：
Constantly can detection receive the first reflected light signal and for the first described optical receiver and the second optical receiver
Two reflected light signals, if receive the reflected light signal that corresponding reflected light signal then received be real-time transmitted to described
Main control module；
When described main control module can receive by the first of the first described optical receiver transmission in setting time
When reflected light signal can receive the second reflected light signal by described second optical receiver transmission again, described main control module
Start to judge to receive every time the magnitude relationship of the second intensity of reflected light by the second described optical receiver transmission, such as this connects
The second intensity of reflected light receiving is less than last the second intensity of reflected light receiving, then described master control module controls drive
Module executes the instruction of avoiding obstacles.
It is preferred that being provided with an intensity threshold in described main control module, when described master control in technique scheme
Module receives when being more than or equal to described intensity threshold by the first intensity of reflected light of the first described optical receiver transmission,
Drive module described in described master control module controls reduces machine in the case of not changing current machine human agent's direction of advance
The pace of device human agent.
The beneficial effects of the present invention is：Two optical transmitting sets of the light beam with different beam angles can be sent by setting
And corresponding two optical receivers are so that two optical receivers can be respectively used to receive the two of two optical transmitting sets transmittings
The reflected light of kind of light beam, judged with the intensity of both reflected lights robot body whether near barrier when, thus
Robot for cleaning floor is not affected by blocking surfaces material and shape when being cleaned work, accurately avoids hindering
Hinder thing.
Brief description
Accompanying drawing 1 is the schematic diagram of the robot for cleaning floor 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 and barrier and machine that first optical receiver of the present invention operationally receives
The distance between device human body relation；
Accompanying drawing 5 is the second intensity of reflected light and barrier and machine that second optical receiver of the present invention operationally receives
The distance between device human 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；6th, support；41st, the first optical transmitting set；411st, the first light source；412nd, the first axial line；42nd, the second optical transmitting set；
421st, secondary light source；422nd, the second axial line；51st, the first optical receiver；511st, the first light-sensitive element；512nd, the 3rd axial line；
52nd, the second optical receiver；521st, the second light-sensitive element；522nd, the 4th axial line.
Specific embodiment
Shown embodiment is described in detail below to this utility model below in conjunction with the accompanying drawings：
Robot for cleaning floor as shown in Fig. 1, this robot for cleaning floor is a kind of ground for floor suction
Clean robot, it is advanced in region to be cleaned and passes through from cleaning region simultaneously in the case of not needing user's real-time control
Ground suck impurity（For example, dust）Carry out the device in automated cleaning region to be cleaned.This robot for cleaning floor includes machine
Human agent 1, cradle（In figure is not shown）, remote control（In figure is not shown）Deng.
Robot body 1 is provided with the cleaning module for cleaning space to be cleaned（Not shown）, it is used for making robot master
The drive module that body 1 moves and/or rotates（Not shown）, receive for the operational order of robot for cleaning floor and show with regard to
The input/output module 2 of robot for cleaning floor operation information, is located at the barrier sensing of clean space barrier for sensing
Module, for storing the data storage module of various data（Not shown）, for the power module powered to robot body（Not
Illustrate）, for controlling the main control module of robot body（Not shown）.Wherein, barrier sensing module is installed to robot master
The front side of body 1（When watching along the direct of travel of robot for cleaning floor）, input/output module 2 is arranged on robot master
The top of body 1.
Cleaning module generally includes：Main brush unit, cleans the dust being present on ground, the dust of cleaning is directed to
Suction inlet；Side brush unit, cleaning is near the region of wall and corner regions.Main brush unit may be installed and is formed at robot body
The opening of lower bottom part（I.e. suction port）Place, to clean the dust accumulating 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 for making being introduced in dust and
The dust of mouth moves in the dust-collecting box within robot body.
Drive module generally includes a pair of travel wheel and castor, so that robot body is moved according to traveling control signal；Foot
Wheel can rotate, for changing direction of advance, the attitude simultaneously keeping stable in robot body.A pair of travel wheel can be according to right
At the both sides of bottom that the mode claiming medially is arranged in robot body.A pair of travel wheel can be in robot for cleaning floor
The lower execution that controls of main control module includes mobile and rotation motor performance.Castor may be installed robot body's lower bottom part
Front edge portion office.
Input/output module 2 is arranged on the top of robot body.Input/output module 2 includes：Multiple operations are pressed
Button, is used for the operational order of robot for cleaning floor by user input；Display floater, display is with regard to robot for cleaning floor
The information of operation, for example, the information that whether operates with regard to robot for cleaning floor, the information etc. with regard to traveling mode.
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 with the traveling side of robot for cleaning floor
Always distinguish, robot body 1 clean move in region when, move from back to front all the time, forward and backward Tongfang referenced below
To identical with this）, each group light transceiver module 3 is respectively provided with a detection comprising obstacle detection direction and detection range
Region.The detection direction of light transceiver module 3 be a bit directed towards robot body 1 dead ahead, some be directed towards robot
The left front of main body or left side, some right fronts being directed towards robot body 1 or right side, detection range launches reception group for light
The far and near distance that part can detect.When installing multigroup smooth transceiver module 3 it is ensured that these light transceiver modules 3
Obstacle detection region can at least cover the region corresponding to first half of robot body 1.Light transceiver module 3 can be
Discover whether with the presence of barrier in respective obstacle detection region, thus controlling robot body 1 to execute for main control module
Avoiding obstacles instruction provides foundation.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 light receiving unit 5 two parts structure
Become.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 has the first light source 411, and the second optical transmitting set has secondary light source 421.First light source
411 and secondary light source 421 can select light emitting diode（LED）Deng luminescent device, from the first light source 411 and secondary light source 421
The light sending can be invisible infrared ray, visible ray etc..Optical receiver 5 includes the first optical receiver 51 and the second light-receiving
Device 52, the first optical receiver 51 is used for receiving the first reflected light after the first light beam runs into blocking surfaces reflection, and the second light connects
Receive device 52 to be used for receiving the second reflected light that the second light beam runs into blocking surfaces back reflection.First optical receiver 51 has first
Light-sensitive element 511, the second optical receiver 52 has the second light-sensitive element 521.In this embodiment, in order to reduce the number of parts
Amount, the first light source 411, secondary light source 421, the first light-sensitive element 511 and the second light-sensitive element 521 are installed in same support
On 6.
As shown in figure 3, the first optical transmitting set 41 has the first axial line 412 and can send and have the first beam angle α's
First light beam, the first beam angle α is the angle more than or equal to 50 °.The first axial line 412 herein is the axial line of optical system,
It is the optical axis of light beam or the centrage that the first optical transmitting set 41 sends, the light beam that the first optical transmitting set 41 sends is around this first axle
Heart line 412 rotates, and does not have the change of any optical characteristics（Following the second axial lines referring to, the 3rd axial line, the 4th axial line
With the first axial line same meaning herein）.Corresponding first axial line 412 of first optical transmitting set 41 and the first beam angle α have
First light emitting area S1, this region S1 are a wide emitting area.Second optical transmitting set 42 has the second axial line 422 can
Send second light beam with the second light beam angle beta, the second light beam angle beta is the angle more than 0 less than or equal to 15 °, the second optical transmitting set
42 corresponding second axial lines 422 and the second light beam angle beta have the second light emitting area S2, and this region S2 is a narrow emitting area.
So that the first following optical receivers 51 and the second optical receiver 52 can interference-free receive respectively the first light beam and
Second light beam runs into the first reflected light and the second reflected light after blocking surfaces reflection, and the first optical transmitting set 41 and the second light are sent out
The corresponding light beam of emitter 42 priority alternate emission.First optical receiver 51 has the 3rd axial line 512 and can receive and have
The light beam of three beam angle γ, the 3rd beam angle γ is the angle more than or equal to 50 °, and the first optical receiver 51 corresponds to the 3rd axial line
513 and the 3rd beam angle γ there is the first optical receiving region S3, this region S3 is a wide receiving area.Second optical receiver 52
There is the 4th axial line 522 and the light beam with the 4th beam angle δ can be received, the 4th beam angle δ is to be less than or equal to more than 0
15 ° of angle, corresponding 4th axial line 522 of the second optical receiver 52 and the 4th beam angle δ have the second optical receiving region S4, this
Region S4 is a narrow receiving area.Because the first light beam and the second light beam are priority alternate emission, the therefore first optical receiver 51
It is also successively alternately to receive the first reflected light and the second reflected light with the second optical receiver 52.In this embodiment, the first axle center
Line 412 and the 3rd axial line 512 are with the centrage P of this group light transceiver module1It is symmetrical set for axis of symmetry, the second axle
Heart line 422 and the 4th axial line 522 are also with the centrage P of this group light transceiver module1It is symmetrical set for axis of symmetry.The
First light emitting area S1 of one optical transmitting set 41 has subregion phase with the first optical receiving region S3 of the first optical receiver 51
Overlap, 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 part
Region overlaps.First axial line 412 of the first optical transmitting set 41 is being intersected with the 3rd axial line 512 of the first optical receiver 51
Form the second joining O2, the second axial line 422 and the 4th axial line 522 are crossed to form the first joining O1, the first joining O1
In the first light emitting area S1 and the equitant region of the first optical receiving region S1, and the first joining O1To robot
The distance of main body 1 is more than the second joining O2To the distance of robot body 1, in concrete setting, send out to increase the first light
Emitter and the search coverage of the first optical receiver, preferably by the second joining O2It is arranged close to robot body 1 or just fall
On robot body 1.
The work process of each group light transceiver module 3 is described below：Robot body 1 is in cleaning region to front
Movement is cleaned work, and the first optical transmitting set 41 and the second Optical Transmit Unit 42 priority alternate emission have the first beam angle
First light beam and second light beam with the second beam angle.When appearance barrier in the corresponding search coverage of light transceiver module 3
When hindering thing, 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 be irradiated to obstacle
Thing reflects behind surface（Or diffuse-reflectance）, thus forming the first reflected light and the second reflected light respectively.Because the first light is launched
The second light beam that the first light beam that device 41 sends sends compared with the second optical transmitting set 42 has bigger beam angle, and the first light-receiving
Device 51 has the first wider optical receiving region S3, and therefore after running into barrier, the first optical receiver 51 will be firstly received
The signal of the first reflected light, and nearer to barrier with robot body 1, it is first anti-that the first optical receiver 51 receives
The intensity penetrating light will be more and more stronger.Simultaneously, with robot body 1 during 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 optical receiver 52 connects when starting
The intensity of the second reflected light receiving is relatively low, is increasingly closer to barrier with robot body 1, and the second optical receiver 52 receives
To the second reflected light intensity start strengthen, when barrier with respect to robot body 1 position be reach the first joining
O1During place, now the intensity of the second reflected light that the second optical receiver 52 receives reaches the most by force, then with robot body 1
It is increasingly closer to barrier, the second intensity of reflected light that the second optical receiver 52 receives starts to weaken.
Shown in Fig. 4 be the first optical receiver 51 receive the first intensity of reflected light corresponding to the first optical transmitting set 41 with
The variation relation that robot body is far and near different apart from barrier and produces, in figure shows the barrier of three kinds of different outer surface colors
Hinder thing after running into the first light beam, the first intensity of reflected light that the first optical receiver 51 can receive.Due to black surface pair
The absorbance of light is higher, and Lycoperdon polymorphum Vitt is taken second place, and white is minimum, and in the case of therefore three kinds, the first optical receiver 51 receives the first reflected light
Intensity all differs, but the change curve through in figure can be seen that its total Changing Pattern is roughly the same.In machine
During human agent 1 is less and less with the distance of barrier, the first intensity of reflected light that the first optical receiver 51 can receive
Persistently strengthen first, when barrier is to reach O at the second joining mentioned above with respect to the position of robot body 12When,
The first intensity of reflected light that first optical receiver 51 receives reaches the most by force, then nearer apart from barrier with robot body 1,
First intensity of reflected light will gradually weaken again.
Fig. 5 is illustrated that the second intensity of reflected light corresponding to the second optical transmitting set 42 that the second optical receiver 52 receives
Change curve, it is worked under same working environment with the first optical receiver 51 in accompanying drawing 4, in robot body 1 and barrier
During hindering the distance of thing less and less, the second intensity of reflected light that the second optical receiver 52 can receive is held at the beginning
Continuous enhanced, when barrier is to reach O at the first joining mentioned above with respect to the position of robot body 11When, second
The second intensity of reflected light that optical receiver 52 receives reaches maximum, then nearer apart from barrier with robot body 1, and second
Intensity of reflected light gradually weakens again.
Based on above-mentioned analysis, in the moving process of barrier, the first optical receiver 51 receives robot body 1
The first intensity of reflected light and the second intensity of reflected light of receiving of the second optical receiver 52 all first increase and then reduce, right
For the second optical receiver 51, the change of its second intensity of reflected light receiving receive compared with the first optical receiver 51 the
The change of one intensity of reflected light is more sensitive, therefore can become such as the control barrier process in main control module or principle design
Lower thought, the first reflected light that is, whether the first optical receiver 51 receives corresponding to the first optical transmitting set 41 is to judge robot
The basis of whether necessary being barrier, the second light transmitting that the second optical receiver 52 is received in the cleaning region of main body 1
The intensity of the second reflected light corresponding to device 42 needs to start to hold as judging robot body 1 from increasing to the turning point of reduction
Row barrier avoids the key condition instructing.
In robot body 1 towards during carry out near barrier, due to the first of the first optical transmitting set 41 transmitting
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, and the first optical receiver 51 to the second
Optical receiver 52 has broader optical receiving region, and the time point that the therefore first optical receiver 51 receives the first reflected light compares
Two optical receivers 52 receive the time point of the second reflected light earlier.Further, since the second joining O2Than the first joining O1Away from
From robot body 1 closer to, thus in robot body 1 during barrier, the second optical receiver 51 receive the
Two intensities of reflected light peak value first and weaken（I.e. Strength Changes are more sensitive）, and this peak value and weaken corresponding machine
Device human agent 1 will not be changed with the material change of blocking surfaces with the relative distance of barrier, is the position more fixed
Put.Also therefore, by barrier with respect to robot body 1 position be reached " the first joining O1" place is arranged to machine
Human agent needs to execute the condition of the instruction of avoiding obstacles, so that robot body 1 can be to the direction row away from barrier
Enter.I.e. in robot body 1 in the moving process of barrier, the second reflective light intensity of receiving when the second optical receiver 52
When degree starts to weaken（Cross " the first joining O1”）, robot body 1 i.e. start execute avoiding obstacles instruction.
Judging whether intensity of reflected light starts to weaken is to compare, by continuous, the second reflection that the second optical receiver receives
The size of light intensity realizing, second intensity of reflected light that this obtains when the second optical receiver（The second reflected light herein
Intensity is usually the meansigma methodss of the second intensity of reflected light in certain period of time, similarly hereinafter）The second reflected light receiving than the last time
Then it is assumed that starting to weaken during low intensity.The robot body 1 of the present embodiment is not subject to blocking surfaces material in avoiding obstacles
Impact, as long as by set " the first joining O1" relative position, you can accurately control robot body in distance barrier
Region how far is hindered around thing to be cleaned.
The method that be used for control the robot for cleaning floor avoiding obstacles of the present embodiment is described below, the method is used
In robot in operation process avoiding obstacles, in the method, each group light transceiver module 3 in barrier sensing module
Work, any one group of transceiver module 3 can provide the foundation of execution avoiding obstacles instruction for main control module simultaneously.Under
Face is used for controlling robot for cleaning floor with reference to the elaboration that cooperates to of one group of transceiver module 3 therein and main control module
The method of avoiding obstacles, the method is 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 alternately sent out backward
Go out the first light beam and the second light beam, the first optical receiver 51 is in running order all the time and by the receive first intensity of reflected light
Signal is real-time transmitted to main control module, and the second optical receiver 52 is in running order all the time and by the receive second reflective light intensity
Degree signal is real-time transmitted to main control module.When main control module receives the first intensity of reflected light being transmitted by the first optical receiver 51
During signal, you can judge that robot body 1 has barrier in the detection zone positioned at this transceiver module 3, now
Main control module continues to monitor it under the basis that can receive the first intensity of reflected light signal being transmitted by the first optical receiver 51
The the second intensity of reflected light signal being transmitted by the second optical receiver 52 can be received, such as main control module is in setting time（This
Setting time is the time setting in main control module, only passes through the test of this setting time, just can be shown that main control module can persistently,
Stably receive the second reflection that the first intensity of reflected light signal of the first optical receiver transmission and the second optical receiver send
Light intensity signal）Can receive and can be received by second by the first intensity of reflected light signal that the first optical receiver 51 transmits again
During the second intensity of reflected light signal of optical receiver 51 transmission, then main control module start to judge receiving every time, by the second light
The magnitude relationship of the second intensity of reflected light of receptor 52 transmission, such as this receives second being transmitted by the second optical receiver 52
Intensity of reflected light receives, less than the last time, the second intensity of reflected light being transmitted by the second optical receiver 52（I.e. barrier is equivalent to
The position of robot body 1 is the position having passed over " the first joining "）, then main control module send execution to drive module and keep away
Open the instruction of barrier, drive module controls robot body 1 to move to the direction away from barrier.
Above-mentioned main control module determines whether to receive by the first intensity of reflected light signal that the first optical receiver 51 transmits is
Judge that robot body 1 accepts in the search coverage of assembly 3 the whether basis with the presence of barrier in current this light transmitting, if
Receive the first intensity of reflected light signal being transmitted by the first optical receiver 51, then show that robot body 1 detects corresponding
Certainly exist barrier in region, only pass through this step, be just avoided that robot body 1 maloperation during advancing is avoided
Barrier command.The situation of the first intensity of reflected light signal being transmitted by the first optical receiver 51 can be received in main control module
Under, then start to judge to receive every time the magnitude relationship of the second intensity of reflected light being transmitted by the second optical receiver 51, as this
Receive the second intensity of reflected light being transmitted by the second optical receiver 51 and receive less than the last time and passed by the second optical receiver 51
The second intensity of reflected light sent, that is, weaken receiving the second intensity of reflected light being transmitted by the second optical receiver 51, then table
Bright barrier is to have passed over the first joining O with respect to the position of robot body 11Position, now robot phase main body 1
The instruction of avoiding obstacles must be immediately performed, that is, change current moving direction to prevent robot body 1 and barrier from colliding
Hit.
In robot for cleaning floor barrier sensing module in this embodiment, due to each group of light transceiver module 3
In all employ two and can send the optical transmitting set with different beam angle light beams and be correspondingly arranged two optical receivers, so
When using, no matter the Facing material of barrier and shape are how different, and light transceiver module 3 all can accurately sense
Barrier, and because the instruction of last execution avoiding obstacles is to be based on to detect whether intensity of reflected light is in reducing tendency,
Rather than specific intensity reflected light values, therefore, this robot for cleaning floor has the blocking surfaces of unlike material running into
When, during its execution avoiding obstacles instruction, it is essentially identical with the distance of barrier, so that this robot for cleaning floor energy
In execution cleaning in barrier proximity without colliding with barrier.
In addition, so that robot body 1 can be in the instruction with time enough execution avoiding obstacles, master control mould
It is provided with an intensity threshold, to receive the first intensity of reflected light being transmitted by the first optical receiver 51 big when main control module in block
When equal to this intensity threshold, master control module controls drive module reduces machine in the case of not changing current direction of advance
The pace of human agent 1.This step can avoid robot to have little time due to effect of inertia to complete execution on the horizon
Avoiding obstacles instruct.Because this intensity threshold is a concrete numerical value, therefore robot body 1 runs into Facing material difference
（Mainly absorptivity is different）Barrier when, execute reduction of speed instruction when it is also different apart from the distance of barrier.
It is also possible to the second optical transmitting set 42 is selected the optical transmitting set being to send thin collimated light beam in above-described embodiment
To substitute and/or by the second optical receiver 52 from being that the optical receiver that can receive thin collimated light beam to substitute, as accompanying drawing 6 institute
Show, be the schematic diagram of the light transceiver module of another embodiment of the present invention.The second optical transmitting set selected in this embodiment
42 ' is the optical transmitting set that can send thin collimated light beam, forms the second narrower light emitting area S2 '；From the second light connect
Receiving device 52 ' is the optical receiver that can receive thin collimated light beam, forms the second narrower optical receiving region S4 '；Such second light
The effect of the second optical transmitting set 42 in the effect that emitter 42 ' reaches and above-described embodiment is essentially identical, the second optical receiver
52 ' can achieve the effect that essentially identical with the effect of the second optical receiver 52 in above-described embodiment, will not be described here.
Above-described embodiment only technology design to illustrate the invention and feature, its object is to allow person skilled in the art
Scholar will appreciate that present disclosure and implements according to this, can not be limited the scope of the invention with this.All according to the present invention
Equivalence changes or modification that spirit is made, all should be included within the scope of the present invention.
Claims (10)
1. a kind of robot for cleaning floor, including robot body, drives described robot body to move in region to be cleaned
Dynamic and/or rotate drive module, be arranged on described robot body and go up and be used to detect in region to be cleaned whether deposit
Barrier barrier sensing module, control described drive module work main control module it is characterised in that：Described barrier
Thing sensing module is hindered to include least one set light transceiver module, the light transceiver module described in each group includes：
Optical Transmit Unit, including being provided with the first optical transmitting set of the first light source and be provided with the second optical transmitting set of secondary light source, institute
The first optical transmitting set stated has the first axial line and can send first light beam with the first beam angle, described the first light
Emitter correspondence has the first light emitting area, and the second described optical transmitting set has the second axial line and can sending and has the
Second light beam of two beam angles or can send the first thin collimated light beam, the second described optical transmitting set correspondence has the second light and sends out
Penetrate region, the first described optical transmitting set and the corresponding light beam of the second optical transmitting set priority alternate emission；
Light receiving unit, connects including the first optical receiver being provided with the first light-sensitive element and the second light being provided with the second light-sensitive element
Receive device, the first described optical receiver runs into generation after blocking surfaces for receiving the light beam that described first optical transmitting set sends
The first reflected light, described the second optical receiver is used for receiving the light beam that described second optical transmitting set sends and runs into barrier table
The second reflected light producing behind face, the first described optical receiver and the second optical receiver all with described main control module phase signals
Connect, the first described optical receiver has the 3rd axial line and can receive the light beam with the 3rd beam angle, described the
One optical receiver correspondence has the first optical receiving region, and the second described optical receiver has the 4th axial line and can receive tool
There is the light beam of the 4th beam angle or one second thin collimated light beam can be received, the second described optical receiver correspondence has the second light
Receiving area, the angle of the second described beam angle is less than the angle of the first described beam angle and the 3rd beam angle, institute simultaneously
The angle of the 4th beam angle stated is less than the angle of the first described beam angle and the 3rd beam angle simultaneously；
The first described light emitting area has subregion to overlap with the first described optical receiving region, and the second described light is sent out
Penetrating region has subregion to overlap with the second described optical receiving region, described the second axial line and the 4th described axle center
Line is crossed to form the first joining, and the first described joining is connect with the first described light positioned at the first described light emitting area
Receive in the equitant region in region.
2. robot for cleaning floor according to claim 1 it is characterised in that：Described the first axial line and described the
Three axial lines are crossed to form the second joining, and the distance of the first joining to robot body is more than the second joining to robot
The distance of main body.
3. robot for cleaning floor according to claim 1 it is characterised in that：The first described beam angle be more than or equal to
50 ° of angle.
4. robot for cleaning floor according to claim 1 it is characterised in that：The 3rd described beam angle be more than or equal to
50 ° of angle.
5. robot for cleaning floor according to claim 1 it is characterised in that：The second described beam angle is less than more than 0 °
Angle equal to 15 °.
6. robot for cleaning floor according to claim 1 it is characterised in that：The 4th described beam angle is less than more than 0 °
Angle equal to 15 °.
7. robot for cleaning floor according to claim 1 it is characterised in that：Described the first axial line and described the
Three axial lines, the second described axial line and described 4th axial line all with the centrage of this group light transceiver module be symmetrical
Axle is symmetrical.
8. robot for cleaning floor according to claim 1 it is characterised in that：Described the first light source, secondary light source,
One light-sensitive element, the second light-sensitive element are arranged on same support.
9. a kind of for controlling robot for cleaning floor avoiding obstacles as described in any one in claim 1 to 8
Method, the method comprises the steps：
Constantly can detection receive the first reflected light signal and second anti-for the first described optical receiver and the second optical receiver
Penetrate optical signal, if receiving the reflected light signal that corresponding reflected light signal then received to be real-time transmitted to described master
Control module；
When described main control module can receive by the first reflection of the first described optical receiver transmission in setting time
When optical signal can receive the second reflected light signal by the second described optical receiver transmission again, described main control module starts
Judge to receive every time the magnitude relationship of the second intensity of reflected light by the second described optical receiver transmission, such as this receives
The second intensity of reflected light be less than the second intensity of reflected light of receiving of last time, then described master control module controls drive module
The instruction of execution avoiding obstacles.
10. the method for controlling robot for cleaning floor avoiding obstacles according to claim 9 it is characterised in that：
It is provided with an intensity threshold, when described main control module receives by the first described optical receiver in described main control module
When first intensity of reflected light of transmission is more than or equal to described intensity threshold, the driving mould described in described master control module controls
Block reduces the pace of robot body in the case of not changing current machine human agent's direction of advance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410184885.5A CN103941735B (en) | 2014-05-05 | 2014-05-05 | Floor cleaning robot and method for controlling robot to avoid obstacle |
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| CN201410184885.5A CN103941735B (en) | 2014-05-05 | 2014-05-05 | Floor cleaning robot and method for controlling robot to avoid obstacle |
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| CN103941735B true CN103941735B (en) | 2017-02-15 |
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| US9919425B2 (en) * | 2015-07-01 | 2018-03-20 | Irobot Corporation | Robot navigational sensor system |
| CN105223951B (en) * | 2015-09-14 | 2018-01-26 | 苏州爱普电器有限公司 | Self-movement robot |
| TWI639021B (en) | 2016-05-17 | 2018-10-21 | 南韓商Ｌｇ電子股份有限公司 | Mobile robot and method of controlling the same |
| TWI653964B (en) | 2016-05-17 | 2019-03-21 | Ｌｇ電子股份有限公司 | Mobile robot and its control method |
| CN207979622U (en) | 2016-05-17 | 2018-10-19 | Lg电子株式会社 | Robot cleaner |
| 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 |
| CN108519355B (en) * | 2018-02-10 | 2020-11-20 | 广东雷洋智能科技股份有限公司 | Method for judging strength of barrier reflection material of cleaning robot |
| KR102070283B1 (en) * | 2018-05-16 | 2020-01-28 | 엘지전자 주식회사 | Cleaner and controlling method thereof |
| 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 |
| WO2020155863A1 (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 therefor, and obstacle detection modules |
| CN112630800A (en) * | 2019-10-09 | 2021-04-09 | 科沃斯机器人股份有限公司 | Self-moving equipment |
| CN114415660B (en) * | 2020-01-21 | 2023-08-08 | 追觅创新科技(苏州)有限公司 | Self-mobile device and ranging method thereof |
| SE544561C2 (en) * | 2020-05-08 | 2022-07-19 | Husqvarna Ab | An outdoor robotic work tool comprising an environmental detection system |
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