CN105595924A - Method for effectively achieving transition of stair cleaning robot from stair to middle platform to stair - Google Patents
Method for effectively achieving transition of stair cleaning robot from stair to middle platform to stair Download PDFInfo
- Publication number
- CN105595924A CN105595924A CN201610012211.6A CN201610012211A CN105595924A CN 105595924 A CN105595924 A CN 105595924A CN 201610012211 A CN201610012211 A CN 201610012211A CN 105595924 A CN105595924 A CN 105595924A
- Authority
- CN
- China
- Prior art keywords
- robot
- stair
- halfpace
- distance
- wall
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000004140 cleaning Methods 0.000 title claims abstract description 36
- 230000007704 transition Effects 0.000 title claims abstract description 34
- 230000008569 process Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 238000003825 pressing Methods 0.000 claims description 2
- 238000010408 sweeping Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 6
- 230000009194 climbing Effects 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000949477 Toona ciliata Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method for effectively achieving transition of a stair cleaning robot from a stair to a middle platform to a stair. The method includes transition of the robot from the stair to the middle platform, traversing of the middle platform between the stairs, transition of the robot from the middle platform to the stair on the next layer and obstacle handling of the robot encountering an obstacle. A method of combining roundabout and plow type path planning is adopted in traversing of the middle platform between the stairs. The method has planning performance and is regular, simple, easy to realize and capable of ensuring the sweeping coverage rate, the robot can determine that traversing of the middle platform is completed and conform the downward stair conveniently, and the method is a necessary means for ensuring that the robot can complete continuous sweeping of the stairs.
Description
The application is application number: 201410245199.4, the applying date: 2014.6.4, titleThe division Shen of " stair clean robot from stair to halfpace to the transition method of stair "Please.
Technical field
The present invention relates to a kind of robot and field of intelligent control, be clean robot from stair toHalfpace is to transition and the planing method of stair.
Background technology
World today's explosive population growth, in order effectively to utilize limited ground space, people more and moreToward eminence development, various high buildings and large mansions, lecture theater, conference hall, Stadium etc. compriseThe building of stair is more and more common, and the clean work of stair and corridor obviously increases, this respectThe market demand is arisen at the historic moment. On the other hand, come into the clean robot of people's daily life exhaustedGreat majority are indoor level land clean robots, are therefore necessary to research and develop stair cleaning machinePeople. Stair clean robot, not just for the cleaning of stair, also should design suitable path ruleThe method of calculating, to meet the cleaning of stair landing, and completes from stair to half space Zai Dao buildingThe transition of ladder. Wherein, when robot is during in stair, from stair to halfpace transition, needDistinguish and arrive halfpace or remain stair; Arrive after halfpace, halfpaceTraversal is the whether complete important symbol of robot stair halfpace cleaning; Robot has traveled throughHalfpace, need to be in end point, judges that whether front is stair down, completes Zai Xiang buildingThe transition of ladder. The relevant knowledge property right of this type of research at present not yet has shaping, and the present invention is expected to fill outMend this type of blank, therefore this research is significant for the complete cleaning that realizes stair.
People, about the existing longer history of the research of climbing building method and associated mechanisms thereof, successively carryGo out the various building methods of climbing, mainly comprised: wheeled, crawler type, leg formula, rolling type.Wherein crawler type and rolling type complex structure, is difficult to complete cleaning task on stair, just pureCui Pa building, limited by practical. The more employing planetary gear of wheeled stair climbing robot or other is compoundWheeled, huge structure complexity, also seldom takes into account stair cleaning function, and practicality is had a greatly reduced quality.The more employing apery of leg formula stair climbing robot walking, mechanism's complexity, cost is high, and large material seemsLittle use, is unfavorable for to marketing. Therefore, the present invention is directed to relatively little Qie Ke building of volumeThe stair clean robot moving around in ladder rung, Zhe Lei robot can spirit on half spaceLive and turns, turn around etc., to realize halfpace transition and the planing method of the present invention's proposition.
Harbin Engineering University has released a kind of based on Archimedes spiral trilobed wheel in 2008Stair clean robot trial-production machine. This stair clean robot can be realized and climb continuously building, climbs buildingAlthough action is steadily, turning on level land, turn around etc. inconveniently on the contrary, therefore there is not thisRelevant transition and the planing method report of robot on stair halfpace.
In the Liu Chao of Taiwan, adopt a kind of current eight more popular caster structural design stair cleanersDevice people. On it, steadily, can adapt to the stair of differing heights downstairs, but because volume is huger,Inconvenience moves around in stair step, requires gap larger with reality is clean, does not have this machineThe actual report coming into operation of device people. Therefore also just not in the middle of these clean robot reply stairThe report of platform aspect.
Although halfpace is a kind of level land, be different from general level land. First, generalThere is not the transition problem with stair in level land, so the yet just not differentiation relevant to stair naturallyProblem; Secondly, general level land path planning algorithm, although can realize traversal, traversal knotBundle point has randomness, and this is unfavorable for that robot finds stair down, even if find, wholeTraversal is inevitable consuming time with searching process, causes energy dissipation larger, or need to join to robotStandby high end sensor, cost increases, and is unfavorable for the popularization of robot; Moreover, if robotJust find halfway stair down, so whether go downstairs immediately, or go downstairs again later, withAfter when go downstairs, etc. be all need solve problem. Therefore general path, level land ruleMethod to one's profit can not be directly used in the planning of stair halfpace, need to be the mistake of stair halfpaceCross the method special with traveling through design.
Summary of the invention
The object of the present invention is to provide one to realize easily and effectively stair clean robot from buildingLadder is to the transition of halfpace; The traversal transition of halfpace; Halfpace is to lower first floor ladderThe method of transition, ensure that robot can complete the continuity of one deck stair cleaning.
Technical solution of the present invention is:
Stair clean robot from stair to halfpace to the transition methods of stair, its spyLevy and be: robot automobile body below is provided with two driving wheels that are symmetrical in fuselage left and right medium line; MachineRespectively there is a universal wheel front and back end, device people vehicle body below, plays on the one hand the robot effect of supporting,Facilitate on the other hand robot to turn, there is cleaning device robot automobile body front end below; RobotTwo distance measuring sensors are installed respectively in vehicle body both sides: first, second distance measuring sensor and the 3rd,The 4th distance measuring sensor, for detection of the distance of robot automobile body both sides and stair riser or wallFrom, for robot provides road information foundation in walking and the traversal of halfpace; Robot carThe first proximity transducer of oblique lower detection is installed in body front end top, and robot automobile body front end is installedFirst, second touch sensor, the first proximity transducer for detection of front whether for downStair, whether touch sensor be wall for detection of front or meet other barriers,For the correct processing of robot provides foundation; Detection is downwards installed in below, robot automobile body rear endSecond, third proximity transducer is stair or halfpace for sensing robot rear;Robot adopts mode downstairs to clean;
The transition of robot from stair to halfpace:
Robot is marking time clean and is turning round 90 ° when front step, make robot before Founder rightThe riser of upper level step, utilizes during second, third proximity transducer judges that robot rear isBetween platform or or stair: if robot slow astern set a distance, second, third proximity transducerAll sense below unobstructed, illustrate that the ground at the current place of robot remains stair stepFace, below must remain staircase; If the distance that robot retreats reaches d, d=L/2,It is unobstructed that second, third proximity transducer does not all sense below, and the current place of robot is describedGround be stair halfpace, robot should proceed to halfpace planning control state;Wherein L is the width of marking time;
Robot is in the traversal transition of stair halfpace:
Robot completes transition by the traversal of halfpace after arriving halfpace, adopts roundaboutThe method combining with plough formula path planning realizes the traversal of halfpace;
Described roundabout paths planning method is:
Robot arrives halfpace from stair, has two kinds of landing points, i.e. primary importance, secondPosition, primary importance be on halfpace near stairwell at the position to the side of going upstairs,The second place be on halfpace to the side of going upstairs, by the position of wall, utilize robotThe distance measuring sensor on right side is the distance of sensing and wall to the right, judges primary importance or secondPosition; Robot leaves stair riser certain distance lower to having retreated after halfpace, this momentRobot is moved ahead, when contact plate touches stair riser, robot return to primary importance orThe second place; If in primary importance, robot turns round 90 ° clockwise, enters to the second placeSend out, whether turn over 90 °, while turning round in robot, by first, second survey of robot one sideThe distance that senses stair riser apart from sensor equates to ensure, then arrives the second place, machinePeople also needs to turn round clockwise 90 °, and by first, second distance measuring sensor sensing and right-side wallSpan is from equating guarantee; If robot is in the second place, to halfpace from stairDirectly make robot turn round 180 °, by first, second distance measuring sensor sensing and right side wallDistance equates to ensure;
Then circuitous path planning is pressed along stair riser edge and halfpace wall by robotRoute mode completes the cleaning at determining of halfpace area size and the each limit of halfpace and angle;When robot utilizes the circuitous path planning cleaning each limit of halfpace and corner, need to be flat with centreTai Gebian keeps a less distance X, ensures cleaning coverage rate; The brush radius of robotFor R, brush installation site is D apart from vehicle body edge; The sense of first, second distance measuring sensorSurvey distance X meets, X < R-D, ensure that robot can cover vehicle body completely to left side wall orGround between stair riser, robot relies on first, second sensor of a side to ensure simultaneouslyRobot is in the time advancing, and the distance with keeping before and after stair riser or wall equating, makes robotBeing parallel to stair riser or wall moves ahead;
Robot plans along halfpace wall and stair riser edge route pressing circuitous pathTraveling process in, in the time that each corner is turned, the first backway d2 of robot, thenTurn, radius of turn is increased to R, and described R mathematical relationship is at least satisfied:Therefore R value is minimum should meet:Wherein a is machineDevice people length; Described d2 minimum should meet: d2＝R-a/2；
Described plough formula paths planning method is:
Robot completes and carries out centre according to plough formula paths planning method after circuitous path planning and put downThe traversal of platform; The distance X 2 of robot one side and wall is a body width b, and brush is wideDegree is wider than vehicle body, and the attitude that robot starts is that right side wall is faced in front, first carries out up timePin is turned round, and utilizes the distance that first, second distance measuring sensor of vehicle body one side records to equate, protectsCard is turned round 90 °; Then wide to A point toward the wall direction on the stair opposite vehicle body that moves ahead, andTurn round clockwise afterwards 90 ° of side walls directions of turning left and move ahead, continue to utilize vehicle body one side first,The second distance measuring sensor records with the distance of the wall on stair opposite and equates, ensures that vehicle body is along parallelWall in stair opposite moves ahead, and records initial distance value Y this moment; Until approach left side wallTo B point, robot utilizes crash sensor to encounter after the wall of left side, prolongs by wheel reversingTime slow astern set a distance, the distance X 2 that makes robot one side and wall is a body width,Robot inverse hour hands are turned round 90 °, utilize the 3rd, the 4th distance measuring sensor of vehicle body opposite side,Similar way ensures to turn round 90 °, and make robot side is X2 far from left side wall simultaneously; ThenA robot body width to the robot inverse hour hands after C point that move ahead are turned round 90 °, then machinePeople from C point along be parallel to stair to the rectilinear direction of sidewalls to the D point that approaches right side wallMove ahead, this process robot automobile body one side and stair are Y-b to the distance of sidewalls, and it is by carThe the 3rd, the 3rd distance measuring sensor guarantee of body opposite side, robot utilizes crash sensor to encounterAfter the wall of right side, by wheel reversing time delay slow astern set a distance, robot inverse hour hands are turned round90 °, with the distance of right side wall be also X2; Then repeat aforementioned process, often come or return once,Make robot automobile body one side with stair to the distance of sidewalls with front once than reducing a vehicle bodyWide b;
In the time that robot detects vehicle body one side and stair the distance of sidewalls is greater than to body width,Illustrate that robot does not approach described wall, the robot cleaning that continues to move ahead; When detecting vehicle body one sideWhile the distance of sidewalls being less than to body width with stair, illustrate that robot has approached stair oppositeWall, after the route that Robot is parallel to described wall moves ahead, plough formula path planning is about to knotBundle;
The halfpace of different in width, the final position difference that plough formula path planning finishes, is buildingThe corner location Z1 of ladder to sidewalls and left side wall and stair are to sidewalls and right side wallCorner location Z2, but the final end position of halfpace can not be served as in these two positions,The corner that need to be transitioned into left side wall and stair tread, ZE point, just can go downstairsAction; If the terminal of plough formula path planning, in Z1 position, illustrates that straight line is clear the last timeIn inswept journey, be first, second distance measuring sensor sensing by robot automobile body left side, comply withAfter clockwise 90 ° of this control, keep straight on and arrive ZE position; If plough formula path planningTerminal in Z2 position, illustrate that the last time in straight line cleaning process be by robot carBody right side the 3rd, the 4th distance measuring sensor sensing, control turns 180 ° clockwise according to thisRear craspedodrome arrives Z1 position, and then turns clockwise 90 ° of arrival ZE positions;
Robot is from the transition of the downward one deck stair of halfpace
Near robot arrives ZE point position, continue to move ahead, if connecing above body structureNearly sensor 1 sensing direction is not blocked, and shows that robot has arrived halfpace and lower one deckThe edge that crosses of stair, front is stair down, then robot utilizes distance measuring sensor to turnBody 180 is spent, and in conjunction with second, third proximity transducer that utilizes vehicle body rear, to testMeasure all unobstructedly, now robot faces lower first floor ladder edge, and robot can carry out downBuilding action, downstairs action is that the form retreating is carried out, and then repeats stair cleaning works;So far, robot has completed the transition to stair again from stair to halfpace;
Robot, in cleaning process, as runs into people or other moving obstacle, utilizes collisionSensor sensing, senses collision, allows robot suspend, in the time not occurring again to collide, and machineDevice people continues to move ahead.
When robot is when setting requirement and be parallel to stair riser or wall and move ahead, can not be alwaysBe parallel to stair riser or wall, produce sometimes the distance of side, front and stair riser or wallFrom with the distance of side, rear and stair riser or wall situation not etc., by first, secondDistance measuring sensor or the 3rd, real-time robot measurement vehicle body one side of the 4th distance measuring sensor and stairThe distance of riser or wall; If the distance that front distance measuring sensor records is less than rear range finding sensingThe distance that device records, control is outside, away from the direction of stair riser or wall,Turn to and move ahead; If the distance that front distance measuring sensor records is greater than, rear distance measuring sensor recordsDistance, control is inside,, near the direction of stair riser or wall, turns to and moves ahead.
It is flat to realizing from stair to centre that the present invention can realize stair clean robot easily and effectivelyThe transition of platform; The traversal of halfpace; Halfpace is to the transition of lower first floor ladder, guarantee machineDevice people can complete the continuity cleaning process of individual layer stair.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the structural representation of stair clean robot.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the top view of Fig. 1.
Fig. 4 robot has cleaned on stair, turn round clockwise 90 ° just to stair riserAttitude figure.
The proximity transducer of Fig. 5, Tu6Shi robot below, rear end judge current whether inBetween the schematic diagram of platform.
Fig. 7 is that indoor parallel double is run stair standard halfpace schematic diagram.
Fig. 8 is that distance measuring sensor ensures that robot one side is parallel to showing of stair riser or wallIntention.
Tu9Shi robot should be enough near by stair riser or wall, ensures that brush covers themBetween the schematic diagram on ground.
Figure 10 be robot in the time advancing, the distance of rear, front, side and stair riser or wallFrom unequal and reply way schematic diagram.
Figure 11, Figure 12 are robots in corner the turn difficulty and the solution signal that run intoFigure.
Figure 13 is that robot retreats in conjunction with S shape and turns to, and makes the distance X of side and stair riserThe schematic diagram increasing.
Figure 14 is plough formula path planning schematic diagram.
Figure 15 is plough formula path planning end point and the final end point E schematic diagram of halfpace.
Figure 16 is that robot judges at halfpace destination county whether front is stair downSchematic diagram.
Figure 17 is that robot utilizes the proximity transducer of the left and right sides, rear end to make the Zheng Dui of robot buildingThe schematic top plan view at ladder edge.
Detailed description of the invention
Stair clean robot from stair to halfpace to the transition methods of stair, machinePeople's vehicle body 1 below is provided with two driving wheels 2,3 that are symmetrical in fuselage left and right medium line; MachineRespectively there is a universal wheel 4,5 front and back end, people's vehicle body below, plays on the one hand and supports robot workWith, facilitate on the other hand robot to turn, there is cleaning device 6 robot automobile body front end below;Two distance measuring sensors are installed respectively in robot automobile body both sides: first, second distance measuring sensor 7,8 and the 3rd, the 4th distance measuring sensor 9,10, for detection of robot automobile body both sides and stairThe distance of riser or wall, for robot provides road information in walking and the traversal of halfpaceFoundation; The first proximity transducer 11 of oblique lower detection is installed in robot automobile body front end top,Robot automobile body front end is installed first, second touch sensor 12,13, the first and is approached biographyWhether sensor is stair down for detection of front, and touch sensor for detection of front isNo is wall or meet other barriers, for the correct processing of robot provides foundation; RobotBody rear end below is installed second, third proximity transducer 14,15 of surveying downwards, forSensing robot rear is stair or halfpace;
The transition of robot from stair to halfpace
For making robot be transitioned into halfpace from stair smoothly, robot is marking time when front stepMarch to from the right shown in Fig. 4 the left side cleaned (be likely also to have cleaned from left to right,That is to turn round counterclockwise), turn round clockwise 90 °, make robot front upright to upper levelThe riser of step, as Fig. 4, need to judge that robot rear is halfpace or or stair (machineDevice people is that the mode retreating is gone downstairs). Design and approached second, third sensor 14,15Differentiate, if robot slow astern set a distance, second, third sensor 14,15 all sensesBelow is unobstructed, illustrates that the ground at the current place of robot remains stair step face, and below mustSo remain staircase, as Fig. 5; If the distance that robot retreats reaches d (d=L/2), asFig. 6, it is unobstructed that second, third sensor 14,15 does not all sense below, and machine is describedThe ground at the current place of people has been stair halfpace, and robot should proceed to halfpace planningState of a control. Wherein L is the width of marking time.
When concrete enforcement, according to national standard, the comfortable tread run L of stair is at 280mmBetween 300mm, therefore, d=140mm to 150mm, for certain nargin, getsD=150mm. Owing to there is no sensor detection-sensitive distance forward, what rely on wheel retreats time delay in factExisting, this value needn't be very accurate, can ensure the reliability of sensing. Actual situation, although depositExceeding the wide stair of marking time of national standard, but these class stair generally belong to exterior stair, this classStair generally do not resemble the halfpace of the standard rule of interior stairs, some exterior stairs or platformAlthough may there be halfpace on rank, shape difference is very large, and irregular, and the present invention does not considerReply. So the present invention is applicable within the scope of national standard, or more comfortable than national standardThe interior stairs of tread run wider (at most wide go out L/2), these class stair have relatively ruleAnd the halfpace of standard, as Fig. 7.
The traversal of stair halfpace
Robot completes transition by the traversal of halfpace after arriving halfpace. Adopt roundaboutThe method combining with plough formula path planning realizes the traversal of halfpace. Wherein roundabout pathPlaning method can make robot first clean each limit and the corner of halfpace, determines halfpaceRegion, make robot limit scope in move; Plough formula paths planning method can make machinePeople covers halfpace with minimal path, ensures the whole halfpace of traversal, also facilitates machine simultaneouslyDevice people finds stair down, so comprehensive two kinds of methods complete the traversal of halfpace.
Robot arrives halfpace from stair, has two kinds of landing points, i.e. primary importance, secondPosition, primary importance is near stairwell 16 (spaces between two bench) and to upstairsLadder one side position (the position P1 in Fig. 7), the second place be on halfpace to upstairsLadder one side, by wall position (the position P2 in Fig. 7). Therefore need first to determine to beOne position P1 or second place P2, can utilize the distance measuring sensor sensing to the right on right sideDistance (if Fig. 7 is to the horizontal dotted line of right side wall) with wall, if distance is larger, judgesPosition P1; If distance is very little, judge at position P2. When concrete enforcement, both are apart from differenceVery large, need not to be accurate threshold value, can ensure the reliability of difference. Robot lower inBetween retreated after platform and left stair riser certain distance d, as Fig. 6. Make before robot this momentOK, when contact plate touches stair riser, robot returns to position P1 or position P2.If at position P1, robot turns round 90 ° clockwise, and to position, P2 sets out. Whether turn over90 °, can turn round in robot time, by two first, second range finding sensings of robot one sideThe distance that device senses stair riser equates guarantee, and in Fig. 8, robot is turned by dotted line position90 ° to position shown in solid line; Then in-position P2, robot also needs to turn round clockwise90 °, by first, second distance measuring sensor sensing and right-side wall span from equating guarantee, as schemed8. If robot is at position P2 to halfpace from stair, directly make robot turn180 ° of bodies, equally by first, second distance measuring sensor sensing and right-side wall span from equating guarantorCard.
When robot is during in position P2 and in attitude shown in Fig. 8, just by as Fig. 7 instituteThe circuitous path programme path mode of the P2-P3-P4-P5-P2 showing completes halfpace regionThe cleaning at definite and the each limit of halfpace and the angle of size. Robot utilizes circuitous path planning clearWhile sweeping the each limit of halfpace and corner, need to keep a less distance with the each limit of halfpaceX, ensures cleaning coverage rate. Robot walks as shown in Figure 9 by wall or stair riser, figureMiddle brush radius is R, and installation site is D apart from vehicle body edge. The position of robot from Fig. 7Put P1 and be swept into position P2, according to the direction of walking in Fig. 9, first, second biography of finding rangeThe detection-sensitive distance of sensor is designed to X, and X < R-D can ensure that robot can cover vehicle body completelyTo the ground between left side wall or stair riser. Simultaneously robot relies on first, the of a sideTwo distance measuring sensors ensure that robot is in the time advancing, and equate with maintenance before and after stair riser or wallDistance, make robot be parallel to stair riser or wall moves ahead.
When actual enforcement, robot can not always be parallel to stair riser or wall in the time advancingWall, produces distance and side, rear and the stair of side, front and stair riser or wall sometimesThe distance of riser or wall situation not etc., as Figure 10. The present invention respectively pacifies in robot both sidesFill former and later two distance measuring sensors, survey by first, second distance measuring sensor or the 3rd, the 3rdApart from the distance of real-time robot measurement vehicle body one side of sensor and stair riser or wall; If frontThe distance that distance measuring sensor records is less than the distance that rear distance measuring sensor records, and controls machineThe people slightly outwards direction of stair riser or wall (away from) turns to and moves ahead, as Figure 10; IfThe distance that front distance measuring sensor records is greater than the distance that rear distance measuring sensor records, controllerDevice people slightly inwardly (i.e. the direction of close stair riser or wall) turns to move ahead (these feelings and figureSymmetrical shown in 10). More than realizing robot one side and stair riser or wall in the time advancing becomesTo parallel, near the distance X of setting.
Robot is in the traveling process along P2-P3-P4-P5-P2 route, for making robot to the greatest extentAmount is by clean to the limit of halfpace and corner cleaning, and the distance that robot keeps to the side is smaller, makesWhen robot turns at each corner, the situation that vehicle body easily occurs encounters wall, causes and turns roundDifficulty, as Figure 11. Turn round if carry out original place this moment, left and right sidesing driving wheel constant speed, turns toOn the contrary, make pivot O point that robot turns round just in the center of self, radius of turnToo little, stair riser is easily encountered in rear end. Solution: increase and turn round radius of turn, O pointAs Figure 12 position, mathematical relationship is at least satisfied:Therefore R valueLowly should meet:About the realization of this radius of turn R, left and right wheels all forwardRotate (be no longer one forward, two counter-rotation backward), but have certainDifferential, determines differential size in conjunction with instantaneous Velocity Center Method. In order to make under this radius of turn, machinePeople's body structure does not touch wall, and robot need to shrink back from the position of Figure 11, backwayD2 minimum should meet: d2=R-a/2, as Figure 12. When concrete enforcement, it is smaller that X getsOnly 30mm, and the dimensions length a of robot of design is 280mm, thus: R=342mm,D2=200mm. When actual enforcement, robot retreats and takes to carry out while retreating S shape and turn toMode, as Figure 13, make robot one side and stair riser distance X increase, can reduceThe possibility that robot turns round rear end encounters stair riser, also can make backway d2 dwindle, and hasBe beneficial to robot turning around the corner. For the turning of corner between wall and wall of robotAlso be similar realization.
After completing circuitous path planning, robot gets back to position P2, according to the plough shown in Figure 14Formula paths planning method completes the traversal of halfpace. Robot one side of the method and wallDistance X 2 is a body width, the overall width b=220mm of robot of specific design. Due toBrush width is wider than vehicle body, and therefore this X2 value can ensure this walking region of robot with itThe near zone of front circuitous path planing method walking has necessarily overlapping, thereby ensures that cleaning coversRate. In the time of the P2 of position, the attitude that robot starts is that right side wall is faced in front, first entersRow is turned round clockwise, utilizes the distance that two distance measuring sensors of vehicle body one side record to equate, protectsCard is turned round 90 °; Then wide to A point toward the wall direction on the stair opposite vehicle body that moves ahead, andTurn round clockwise afterwards 90 ° of side walls directions of turning left and move ahead, continue to utilize vehicle body one side first,The second distance measuring sensor records with the distance of the wall on stair opposite and equates, ensures that vehicle body is along parallelWall in stair opposite moves ahead, and records initial distance value Y this moment; Until approach left side wallTo the B point in figure, robot utilizes crash sensor to encounter after the wall of left side, retreats certainDistance (adopting wheel reversing time delay to realize), robot inverse hour hands are turned round 90 °, utilize vehicle bodyOpposite side the 3rd, the 4th distance measuring sensor, similar way ensures to turn round 90 °, makes machine simultaneouslyPeople side is X2 far from left side wall. Then robot proceeds to C point, and the distance that moves ahead is oneAfter body width, robot inverse hour hands are turned round 90 °, and then robot is from C point along being parallel to stairThe rectilinear direction of sidewalls is moved ahead to D point, these process robot automobile body one side and stair pairThe distance of sidewalls is Y-b, and it is ensured by vehicle body opposite side the 3rd, the 4th distance measuring sensor.Robot utilizes the similar way of crash sensor to run to D point, and robot turns round, with the right sideThe distance of side walls is also X2, then repeats aforementioned similar procedure. Often come or return once, makingRobot automobile body one side with stair to the distance of sidewalls with front once wide than reducing a vehicle bodyb。
In the time that robot detects vehicle body one side and stair the distance of sidewalls is greater than to body width,Illustrate that robot does not approach described wall, the robot cleaning that continues to move ahead; When detecting vehicle body one sideWhile the distance of sidewalls being less than to body width with stair, illustrate that robot has approached stair oppositeWall, after the route that Robot is parallel to described wall moves ahead, plough formula path planning is about to knotBundle. The halfpace of different in width, the final position difference that plough formula path planning finishes, just likeTwo positions of Z1 shown in Figure 15 and Z2. But halfpace can not be served as in these two positionsFinal end position, need to be transitioned into the ZE point as Figure 15, just can go downstairs movingDo. If the terminal of plough formula path planning, in Z1 position, illustrates straight line cleaning the last timeIn process, be first, second distance measuring sensor sensing by robot automobile body left side, according to thisAfter clockwise 90 ° of control, keep straight on and arrive ZE position. If plough formula path planningTerminal is in Z2 position, illustrates that the last time in straight line cleaning process be to pass through robot automobile bodyRight side the 3rd, the 4th distance measuring sensor sensing, control turns 180 ° clockwise according to thisRear craspedodrome arrives Z1 position, and then turns clockwise 90 ° of arrival ZE positions.
Robot is from the transition of the downward one deck stair of halfpace
When robot arrives near ZE point position, continue to move ahead, if the above body structureOne proximity transducer sensing direction is not blocked, and shows that robot has arrived halfpace and nextThe edge that crosses of floor ladder, front is stair down, as Figure 16. Then robot turns round180 degree (the definite reason of angle is similar, and turning round 90 ° utilizes distance measuring sensor above), and knotClose second, third proximity transducer that utilizes vehicle body rear, detect downwards all unobstructed, asFigure 17. Now robot faces lower first floor ladder edge, and robot can carry out action downstairs(downstairs action is that the form retreating is carried out), then repeats stair cleaning works. ExtremelyThis, robot has completed the transition to stair again from stair to halfpace, in this way canRealize the continuous-cleaning of one deck stair.
Robot runs into the processing of moving obstacle
Robot, in cleaning process, as runs into people or other moving obstacle, can utilize collisionSensor sensing, senses collision, allows robot suspend, in the time not occurring again to collide, and machineDevice people continues to move ahead.
Due to diversity and the complexity of stair, the present invention only considers to be applied in modal indoorParallel double is run stair occasion; The present invention does not comprise that reply has the floor half space of door, mainReply does not comprise the interval between this layer and last layer or this layer and lower one deck of doorPlatform (be called for short " halfpace "), the do not have barrier of static placement of halfpace, shapeComparison rule is as Fig. 7.
(if people from bottom to top upstairs, every half space is total taking stair as dextrorotation for the inventive methodBe to turn left again up, downstairs always turn right) be designed to example, if stair are left-handed (if peopleFrom bottom to top upstairs, every half space is always turned right up again, downstairs always turns left)Mode, the sensor of judgement, the symmetrical mode of the employings such as the path of use and the application placeReason.
The present invention have planning regular, be simple and easy to realize, be convenient to robot determine traveled throughHalfpace, and confirm the advantages such as stair down.
Claims (1)
- One kind effectively realize stair clean robot from stair to halfpace to stair transitionMethod, it is characterized in that: robot automobile body below is provided with and is symmetrical in fuselage left and right medium lineTwo driving wheels; Respectively there is a universal wheel front and back end, robot automobile body below, plays on the one hand supportRobot effect, facilitates robot to turn on the other hand, and robot automobile body front end below has cleanDevice; Two distance measuring sensors are installed respectively in robot automobile body both sides: first, second biography of finding rangeSensor and the 3rd, the 4th distance measuring sensor, for detection of robot automobile body both sides and stair riserOr the distance of wall, for robot provides road information to comply with in walking and the traversal of halfpaceAccording to; The first proximity transducer of oblique lower detection, robot are installed in robot automobile body front end topBody structure is installed first, second touch sensor, and the first proximity transducer is for detection of frontWhether side is stair down, and whether touch sensor is wall for detection of front or encountersOther barriers, for the correct processing of robot provides foundation; Below, robot automobile body rear end peaceSecond, third proximity transducer that dress is surveyed downwards, for sensing robot rear be stair alsoIt is halfpace; Robot adopts mode downstairs to clean;The transition of robot from stair to halfpace:Robot is marking time clean and is turning round 90 ° when front step, make robot before Founder rightThe riser of upper level step, utilizes during second, third proximity transducer judges that robot rear isBetween platform or or stair: if robot slow astern set a distance, second, third proximity transducerAll sense below unobstructed, illustrate that the ground at the current place of robot remains stair stepFace, below must remain staircase; If the distance that robot retreats reaches d, d=L/2,It is unobstructed that second, third proximity transducer does not all sense below, and the current place of robot is describedGround be stair halfpace, robot should proceed to halfpace planning control state;Wherein L is the width of marking time;Robot is in the traversal transition of stair halfpace:Robot completes transition by the traversal of halfpace after arriving halfpace, adopts roundaboutThe method combining with plough formula path planning realizes the traversal of halfpace;Described roundabout paths planning method is:Robot arrives halfpace from stair, has two kinds of landing points, i.e. primary importance, secondPosition, primary importance be on halfpace near stairwell at the position to the side of going upstairs,The second place be on halfpace to the side of going upstairs, by the position of wall, utilize robotThe distance measuring sensor on right side is the distance of sensing and wall to the right, judges primary importance or secondPosition; Robot leaves stair riser certain distance lower to having retreated after halfpace, this momentRobot is moved ahead, when contact plate touches stair riser, robot return to primary importance orThe second place; If in primary importance, robot turns round 90 ° clockwise, enters to the second placeSend out, while turning round in robot, sensed by first, second distance measuring sensor of robot one sideThe distance of stair riser equates, ensures that whether it turns over 90 °, then arrives the second place, machineDevice people also needs to turn round clockwise 90 °, and by first, second distance measuring sensor sensing and right sideWall distance equates to ensure; If robot is in the second place to halfpace from stair,Directly make robot turn round 180 °, by first, second distance measuring sensor sensing and right-side wallSpan is from equating guarantee;Then circuitous path planning is pressed along stair riser edge and halfpace wall by robotRoute mode completes the cleaning at determining of halfpace area size and the each limit of halfpace and angle;When robot utilizes the circuitous path planning cleaning each limit of halfpace and corner, need to be flat with centreTai Gebian keeps a less distance X, ensures cleaning coverage rate; The brush radius of robotFor R, brush installation site is D apart from vehicle body edge; The sense of first, second distance measuring sensorSurvey distance X meets, X < R-D, ensure that robot can cover vehicle body completely to left side wall orGround between stair riser, robot relies on first, second sensor of a side to ensure simultaneouslyRobot is in the time advancing, and the distance with keeping before and after stair riser or wall equating, makes robotBeing parallel to stair riser or wall moves ahead;Robot plans along halfpace wall and stair riser edge route pressing circuitous pathTraveling process in, in the time that each corner is turned, the first backway d of robot2, then turnCurved, radius of turn is increased to R, and described R mathematical relationship is at least satisfied:Therefore R value is minimum should meet:Wherein a is robot length; Described d2Minimum should meet: d2＝R-a/2；Described plough formula paths planning method is:Robot completes and carries out centre according to plough formula paths planning method after circuitous path planning and put downThe traversal of platform; The distance X 2 of robot one side and wall is a body width b, and brush is wideDegree is wider than vehicle body, and the attitude that robot starts is that right side wall is faced in front, first carries out up timePin is turned round, and utilizes the distance that first, second distance measuring sensor of vehicle body one side records to equate, protectsCard is turned round 90 °; Then wide to A point toward the wall direction on the stair opposite vehicle body that moves ahead, andTurn round clockwise afterwards 90 ° of side walls directions of turning left and move ahead, continue to utilize vehicle body one side first,The second distance measuring sensor records with the distance of the wall on stair opposite and equates, ensures that vehicle body is along parallelWall in stair opposite moves ahead, and records initial distance value Y this moment; Until approach left side wallTo B point, robot utilizes crash sensor to encounter after the wall of left side, prolongs by wheel reversingTime slow astern set a distance, the distance X 2 that makes robot one side and wall is a body width,Robot inverse hour hands are turned round 90 °, utilize the 3rd, the 4th distance measuring sensor of vehicle body opposite side to surveyThe equidistant way obtaining ensures to turn round 90 °, makes robot side far from left side wall be simultaneouslyX2; Then a robot body width to the robot inverse hour hands after C point that move ahead are turned round 90 °,Then robot be parallel to from C point edge stair to the rectilinear direction of sidewalls to approaching right-side wallThe D point of wall moves ahead, and this process robot automobile body one side and stair are Y-b to the distance of sidewalls,Its 3rd, the 4th distance measuring sensor by vehicle body opposite side ensures, robot utilizes collision sensingDevice is encountered after the wall of right side, by wheel reversing time delay slow astern set a distance, robot inverse hour handsTurn round 90 °, with the distance of right side wall be also X2; Then repeat aforementioned process, often come orReturn once, make robot automobile body one side with stair to the distance of sidewalls with front once than reducing oneThe wide b of individual vehicle body;In the time that robot detects vehicle body one side and stair the distance of sidewalls is greater than to body width,Illustrate that robot does not approach described wall, the robot cleaning that continues to move ahead; When detecting vehicle body one sideWhile the distance of sidewalls being less than to body width with stair, illustrate that robot has approached stair oppositeWall, after the route that Robot is parallel to described wall moves ahead, plough formula path planning is about to knotBundle;The halfpace of different in width, the final position difference that plough formula path planning finishes, is buildingThe corner location Z1 of ladder to sidewalls and left side wall and stair are to sidewalls and right side wallCorner location Z2, but the final end position of halfpace can not be served as in these two positions,The corner that need to be transitioned into left side wall and stair tread, ZE point, just can go downstairsAction; If the terminal of plough formula path planning, in Z1 position, illustrates that straight line is clear the last timeIn inswept journey, be first, second distance measuring sensor sensing by robot automobile body left side, comply withAfter clockwise 90 ° of this control, keep straight on and arrive ZE position; If plough formula path planningTerminal in Z2 position, illustrate that the last time in straight line cleaning process be by robot carBody right side the 3rd, the 4th distance measuring sensor sensing, control turns 180 ° clockwise according to thisRear craspedodrome arrives Z1 position, and then turns clockwise 90 ° of arrival ZE positions;Robot is from the transition of the downward one deck stair of halfpaceNear robot arrives ZE point position, continue to move ahead, if connecing above body structureNearly sensor (1) sensing direction is not blocked, show robot arrived halfpace with underThe edge that crosses of one deck stair, front is stair down, then robot utilization range finding sensingDevice is turned round 180 degree, and in conjunction with second, third proximity transducer that utilizes vehicle body rear, toUnder detect all unobstructedly, now robot faces lower first floor ladder edge, robot can holdRow is action downstairs, and downstairs action is that the form retreating is carried out, and then repeats stair cleaningWork; So far, robot has completed the transition to stair again from stair to halfpace;Robot, in cleaning process, as runs into people or other moving obstacle, utilizes collisionSensor sensing, senses collision, allows robot suspend, in the time not occurring again to collide, and machineDevice people continues to move ahead.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012211.6A CN105595924B (en) | 2014-06-04 | 2014-06-04 | Effectively realize stair clean robot method to stair transition from stair to halfpace |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012211.6A CN105595924B (en) | 2014-06-04 | 2014-06-04 | Effectively realize stair clean robot method to stair transition from stair to halfpace |
| CN201410245199.4A CN103989443B (en) | 2014-06-04 | 2014-06-04 | Stair clean robot from stair to halfpace to the transition method of stair |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410245199.4A Division CN103989443B (en) | 2014-06-04 | 2014-06-04 | Stair clean robot from stair to halfpace to the transition method of stair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105595924A true CN105595924A (en) | 2016-05-25 |
| CN105595924B CN105595924B (en) | 2017-10-17 |
Family
ID=51303974
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610012211.6A Expired - Fee Related CN105595924B (en) | 2014-06-04 | 2014-06-04 | Effectively realize stair clean robot method to stair transition from stair to halfpace |
| CN201610013274.3A Expired - Fee Related CN105496317B (en) | 2014-06-04 | 2014-06-04 | Clean robot from stair to halfpace to stair continuity transition method |
| CN201410245199.4A Expired - Fee Related CN103989443B (en) | 2014-06-04 | 2014-06-04 | Stair clean robot from stair to halfpace to the transition method of stair |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610013274.3A Expired - Fee Related CN105496317B (en) | 2014-06-04 | 2014-06-04 | Clean robot from stair to halfpace to stair continuity transition method |
| CN201410245199.4A Expired - Fee Related CN103989443B (en) | 2014-06-04 | 2014-06-04 | Stair clean robot from stair to halfpace to the transition method of stair |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN105595924B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108078498A (en) * | 2017-10-30 | 2018-05-29 | 苏州花坞信息科技有限公司 | A kind of stair face cleaning method of intelligent stair clean robot |
| CN111759241A (en) * | 2020-06-24 | 2020-10-13 | 湖南格兰博智能科技有限责任公司 | Sweeping path planning and navigation control method for sweeping robot |
| CN113854892A (en) * | 2021-10-21 | 2021-12-31 | 唐山学院 | Cleaning device capable of automatically planning path |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105824313A (en) * | 2016-03-15 | 2016-08-03 | 深圳市华讯方舟科技有限公司 | Barrier avoidance method and device |
| CN107943021B (en) * | 2017-10-19 | 2021-03-30 | 布法罗机器人科技（成都）有限公司 | Self-adaptive stair ascending and descending control system and method |
| CN108415421A (en) * | 2018-01-26 | 2018-08-17 | 广东宝乐机器人股份有限公司 | Method for improving corner coverage rate of mobile robot |
| CN110448231B (en) * | 2019-08-12 | 2021-04-13 | 侨银城市管理股份有限公司 | Cleaning device suitable for municipal administration ladder |
| CN111214173A (en) * | 2019-11-21 | 2020-06-02 | 三峡大学 | Crawler-type stair-climbing dust collection device and method |
| CN110861095B (en) * | 2019-12-09 | 2021-03-19 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, and readable storage medium |
| WO2022041236A1 (en) * | 2020-08-31 | 2022-03-03 | 苏州珊口智能科技有限公司 | Traveling control method and path planning method for mobile robot, and mobile robot |
| CN114569002A (en) * | 2022-03-18 | 2022-06-03 | 广州大学 | Intelligent cleaning robot and control method thereof |
| CN114569028A (en) * | 2022-04-28 | 2022-06-03 | 南京福亿智能机器人科技有限公司 | Control method, device and equipment for robot climbing stairs and storage medium |
| CN114794991B (en) * | 2022-06-02 | 2024-01-16 | 南通大学 | Control method for stair cleaning robot to go downstairs without turning around |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1383412A (en) * | 2000-06-09 | 2002-12-04 | 岛津麦库泰姆株式会社 | Walker |
| JP2009234534A (en) * | 2008-03-28 | 2009-10-15 | Ihi Corp | Locomotive robot |
| JP2009241246A (en) * | 2008-03-31 | 2009-10-22 | Kazuya Yoshida | Semi-automatic travelling method for irregular ground movable body |
| CN102631172A (en) * | 2012-04-20 | 2012-08-15 | 南通大学 | Lifting telescopic corridor cleaning robot |
| CN202681848U (en) * | 2012-04-18 | 2013-01-23 | 燕山大学 | Wall surface cleaning robot based on vacuum absorption principle |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2364002C2 (en) * | 1973-12-21 | 1983-02-24 | Frey, Helmut, Dr.jur., 8000 München | Orientation device for a device system that moves on a surface in order to process it |
| RU2220643C2 (en) * | 2001-04-18 | 2004-01-10 | Самсунг Гванджу Электроникс Ко., Лтд. | Automatic cleaning apparatus, automatic cleaning system and method for controlling of system (versions) |
| SE0201740D0 (en) * | 2002-06-07 | 2002-06-07 | Electrolux Ab | Electronic routing system |
| CN1883889A (en) * | 2005-06-22 | 2006-12-27 | 王冬雷 | Route planning suitable for cleaning robot |
| KR101281512B1 (en) * | 2007-04-06 | 2013-07-03 | 삼성전자주식회사 | Robot cleaner and control method thereof |
| KR101361562B1 (en) * | 2007-05-31 | 2014-02-13 | 삼성전자주식회사 | Cleanning robot |
| EP2045624A1 (en) * | 2007-10-01 | 2009-04-08 | Samsung Electronics Co., Ltd. | Ultrasonic distance sensor and robot cleaner using the same |
| TWI423779B (en) * | 2011-01-28 | 2014-01-21 | Micro Star Int Co Ltd | Cleaning robot and control method thereof |
| CN203195609U (en) * | 2013-04-02 | 2013-09-18 | 宋晓龙 | Overtravel cleaning robot |
-
2014
- 2014-06-04 CN CN201610012211.6A patent/CN105595924B/en not_active Expired - Fee Related
- 2014-06-04 CN CN201610013274.3A patent/CN105496317B/en not_active Expired - Fee Related
- 2014-06-04 CN CN201410245199.4A patent/CN103989443B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1383412A (en) * | 2000-06-09 | 2002-12-04 | 岛津麦库泰姆株式会社 | Walker |
| JP2009234534A (en) * | 2008-03-28 | 2009-10-15 | Ihi Corp | Locomotive robot |
| JP2009241246A (en) * | 2008-03-31 | 2009-10-22 | Kazuya Yoshida | Semi-automatic travelling method for irregular ground movable body |
| CN202681848U (en) * | 2012-04-18 | 2013-01-23 | 燕山大学 | Wall surface cleaning robot based on vacuum absorption principle |
| CN102631172A (en) * | 2012-04-20 | 2012-08-15 | 南通大学 | Lifting telescopic corridor cleaning robot |
Non-Patent Citations (1)
| Title |
|---|
| 姚兴田等: "升降伸缩式楼道清洁机器人结构及控制系统设计", 《机械设计与制造》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108078498A (en) * | 2017-10-30 | 2018-05-29 | 苏州花坞信息科技有限公司 | A kind of stair face cleaning method of intelligent stair clean robot |
| CN111759241A (en) * | 2020-06-24 | 2020-10-13 | 湖南格兰博智能科技有限责任公司 | Sweeping path planning and navigation control method for sweeping robot |
| CN111759241B (en) * | 2020-06-24 | 2021-10-15 | 湖南格兰博智能科技有限责任公司 | Sweeping path planning and navigation control method for sweeping robot |
| CN113854892A (en) * | 2021-10-21 | 2021-12-31 | 唐山学院 | Cleaning device capable of automatically planning path |
| CN113854892B (en) * | 2021-10-21 | 2022-08-02 | 唐山学院 | Cleaning device capable of automatically planning path |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105496317B (en) | 2017-09-29 |
| CN103989443A (en) | 2014-08-20 |
| CN105595924B (en) | 2017-10-17 |
| CN103989443B (en) | 2016-03-02 |
| CN105496317A (en) | 2016-04-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105595924A (en) | Method for effectively achieving transition of stair cleaning robot from stair to middle platform to stair | |
| US11022976B2 (en) | Path planning method of intelligent robot | |
| CN103963865B (en) | The method of discrimination of elevating and telescopic type corridor cleaning robot stair activity | |
| CN111766877B (en) | Robot | |
| CN104881027A (en) | Autonomic barrier-crossing system for wheel-track transformer station inspection robot and control method thereof | |
| CN113465728B (en) | Terrain awareness method, system, storage medium and computer equipment | |
| CN104360687B (en) | Multi-mode autonomous driving control method for underground carry scraper | |
| JPH09145392A (en) | Method for obtaining slip of autonomous moving unit and method for planning running path | |
| CN104875800A (en) | Self-climbing control method of tracked mobile robot with double-rod arm | |
| CN107678429B (en) | Robot control method and chip | |
| CN104127157A (en) | Wheel-leg type stair sweeping robot | |
| CN204557216U (en) | Wheel-track combined Intelligent Mobile Robot active obstacle system | |
| CN103197677A (en) | Algorithm of walking along edge of dust collection robot | |
| TWM477595U (en) | Mobile device with route memorization function | |
| CN106364580A (en) | Planetary wheel type obstacle crossing robot stair climbing control method | |
| CN105182971A (en) | Obstacle avoidance method for service robot in indoor environment | |
| CN103950482B (en) | Dropproof and collision processing method when stair clean robot moves on marking time | |
| Kim et al. | Development of a LiDAR sensor-based small autonomous driving robot for underground mines and indoor driving experiments | |
| CN114211512B (en) | Whole-face loop inspection method for tunnel lining detection climbing robot | |
| Imadu et al. | Walking guide interface mechanism and navigation system for the visually impaired | |
| Liu et al. | Sensory navigation of autonomous cleaning robots | |
| Nakamura et al. | Validation of SLAM without odometry in outdoor environment | |
| CN113442138A (en) | Routing planning method for inspection path of climbing robot in tunnel | |
| CN206391105U (en) | The upper control device downstairs of electric wheelchair | |
| Song et al. | A localization algorithm for low-cost cleaning robots based on kalman filter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171017 Termination date: 20180604 |