CN108078498A - A kind of stair face cleaning method of intelligent stair clean robot - Google Patents
A kind of stair face cleaning method of intelligent stair clean robot Download PDFInfo
- Publication number
- CN108078498A CN108078498A CN201711035140.2A CN201711035140A CN108078498A CN 108078498 A CN108078498 A CN 108078498A CN 201711035140 A CN201711035140 A CN 201711035140A CN 108078498 A CN108078498 A CN 108078498A
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- CN
- China
- Prior art keywords
- robot
- stair
- control system
- sensor
- drop
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of stair face cleaning method of intelligent stair clean robot, the present invention includes the following steps：A, 360 degree of laser range sensor is scanned, and detects the spacing between shelter, and is sent to control system, and control system forms flat scanning figure by certain algorithm.The present invention on stair when being cleaned, because stair difference and common ground, the clean surface of stair is smaller, and shape is mostly the rectangle of rule, there are drop sensor on common sweeping robot, robot can be avoided to fall on ladder, but since robot can include the region this layer of ladder once at the cleaning face of scanning, it is easy to cause generation work contradiction, robot between sweep-out pattern and drop sensor and easily generates abnormal work.The cleaning method of the present invention first determines the cleaning face of ladder, according to the sweep-out pattern that surface sweeping is asked to carry out planning suitable cleaning face again, ensures the normal orderly carry out cleaning works of robot.
Description
Technical field
The present invention relates to a kind of stair face cleaning methods of intelligent stair clean robot.
Background technology
Present Intelligent robot for sweeping floor has gradually been entered into average family, is no longer a kind of symbol of luxury goods,
And sweeping robot is mainly made of running gear, clearing apparatus and detection device, detection device is mainly used to help sweeper
Device people plans sweep-out pattern, judges position form, reduces collision, avoids falling from the working face there are drop, ensures walking dress
It puts and can normally work with clearing apparatus.But Intelligent robot for sweeping floor now on the market is all indoor for cleaning
Ground grading, application scenarios are more single, it is impossible to apply and cleaning works is carried out on stair.
The content of the invention
The technical problem to be solved by the present invention is to：A kind of stair face cleaning method of intelligent stair clean robot is provided,
Facilitate and clean stair face.
To solve the above-mentioned problems, the present invention includes the following steps：A, 360 degree of laser range sensor is scanned, inspection
The spacing between shelter is surveyed, and is sent to control system, control system forms flat scanning figure by certain algorithm, with machine
The direction of advance of device people is front, and the front of control system control robot is turned in a clockwise direction towards shelter spacing
Minimum direction；B, control system compares the minimum range of the front of robot and shelter and the first setting value, if
Vertical range of the control system comparing result between the front of robot and shelter performs step no more than the first setting value
C if vertical range of the control system comparing result between the front of robot and shelter is more than the first setting value, performs step
Rapid d；C, control system in flat scanning figure using the straight line of the vertical and robot direction of advance where the point as stair edge
Line, robot rotate clockwise 90 degree, and the b that repeats the above steps, and when the angle of revolute reaches 360 degree, perform step
Rapid e；D, robot walks forward, if the height of the drop sensor detection in front, there are during drop, repeat the above steps c, if
When the drop sensor in front detects that height does not have drop, repeat the above steps b；E, control system is by four stair edge lines
Closed area due to stair clean surface, location information is transferred in control system by gyro sensor, control system mark
The position of stair clean surface where robot；F, control system plans cleaning route according to the stair clean surface of detection, plans road
Line is by the gradual inside cleaning route of outer edge, and control system control robot is moved to the corner of stair clean surface, i.e.,
The starting point of cleaning route, gyro sensor detect the real time position of robot, and control system makes machine according to certain algorithm
The distance of the Edge Distance stair edge line of device people is not less than the second setting value, until the complete a cleaning route of robot ambulation.
For the ease of setting drop sensor, drop sensor of the present invention includes transmitter and receiver, when falling
When gap sensor detection is without drop, when the electromagnetic wave of transmitter transmitting is set by the time that receiver receives for first
Between, when the detection of drop sensor is there are during drop, the electromagnetic wave of transmitter transmitting is more than by the time that receiver receives
First setting time or receiver are without reception.
For the ease of set robot, robot of the present invention include running gear, cleaning device, sensing device and
Control system, the sensing device include laser range sensor, drop sensor, sound ranging sensor, gyroscope and pass
Sensor.
The beneficial effects of the invention are as follows：The present invention on stair when being cleaned, because stair difference and common ground, building
The clean surface of ladder is smaller, and shape is mostly the rectangle of rule, there are drop sensor on common sweeping robot, can keep away
Exempt from robot on ladder to fall, but since robot can include the region this layer of ladder once at the cleaning face of scanning, hold
It easily leads to generation work contradiction, robot between sweep-out pattern and drop sensor and easily generates abnormal work.The present invention's is clear
The cleaning face that method first determines ladder is swept, according to the sweep-out pattern that surface sweeping is asked to carry out planning suitable cleaning face again, ensures robot
Normal orderly carry out cleaning works.
Description of the drawings
Fig. 1 is the definition orientation schematic diagram of the robot of the present invention；
Fig. 2 uses schematic diagram for the robot of the present invention；
Plane of scanning motion schematic diagram when Fig. 3 is the first state of the present invention（Guardrail shield portions are not represented）；
Plane of scanning motion schematic diagram when Fig. 4 is the second state of the present invention（Guardrail shield portions are not represented）；
Plane of scanning motion schematic diagram when Fig. 5 is the third state of the present invention；
Fig. 6 is the schematic diagram of judgement the first stair edge line of the present invention；
Fig. 7 is the schematic diagram of judgement the second stair edge line of the present invention；
Fig. 8 is the schematic diagram for judging third story ladder edge line of the present invention；
Fig. 9 is the schematic diagram of the 4th stair edge line of judgement of the present invention；
Figure 10 is the structure diagram of the guardrail of the present invention.
Wherein：1st, robot, 2, this floor ladder, 3, halfpace, 4, lower floor's stair, 5, lower floor's guardrail, 6, first state
Planar scanning area, the 7, second state plane scanning area, 8, third state planar scanning area, 9, a upper ladder, 10, wall
Body, 11, next ladder, 12, guardrail, the 13, first stair edge line, the 14, second stair edge line, 15, third story ladder edge line,
16th, the 4th stair edge line, 17, current ladder.
Specific embodiment
Robot described in the present embodiment includes running gear, cleaning device, sensing device and control system, the sense
Device is answered to include laser range sensor, drop sensor, sound ranging sensor, gyro sensor.
The present embodiment is related to a kind of stair face cleaning method of intelligent stair clean robot, includes the following steps：
A, as shown in Fig. 2, when robot 1 marches to any ladder, 360 degree of laser range sensor is scanned, and detection is blocked
Spacing between object, and control system is sent to, as shown in figure 3, control system forms flat scanning figure by certain algorithm,
First state planar scanning area 6 is formed, as shown in Figure 1, using the direction of advance of robot 1 as front, control system control machine
The front of device people turns to the direction towards shelter spacing minimum in a clockwise direction, and the four sides of usual ladder is respectively upper one
Ladder 9, wall 10, guardrail 12 and next ladder 11, guardrail as shown in Figure 10, there may be guardrails 12 on current ladder 17
Cylinder, it is also possible to there is no the cylinder of guardrail, the shelter of robot 1 first time surface sweeping is mainly the side of a upper ladder 9
Edge and wall 10, the minimum range between robot 1 and shelter are the vertical range between robot 1 and shelter, are made
The direction of the front of robot 1 towards minimum range between robot and shelter is the front face shelter of robot 1；
B, control system compares the minimum range of the front of robot 1 and shelter and the first setting value, if control system
Vertical range of the comparing result between the front of robot 1 and shelter of uniting is not more than the first setting value, performs step c, if
Vertical range of the control system comparing result between the front of robot 1 and shelter is more than the first setting value, performs step
d；
C, control system in flat scanning figure using the straight line of the vertical and robot direction of advance where the point as stair edge
Line, robot 1 rotate clockwise 90 degree, and the b that repeats the above steps, and when the angle of revolute reaches 360 degree, perform step
Rapid e；
D, robot walks forward, if the height of the drop sensor detection in front, there are during drop, repeat the above steps c, if
When the drop sensor in front detects that height does not have drop, repeat the above steps b；Drop sensor includes transmitter and reception
Device, when detection height does not have drop, the electromagnetic wave of transmitter transmitting is received by the receiver in setting time, when there are drops
When, electromagnetic radiation distance increase, the time that receiver receives exports to control system and examines beyond setting time, drop sensor
Survey result.
E, by the closed area of four stair edge lines due to stair clean surface, gyro sensor will position control system
Information is transferred in control system, the position of 1 place stair clean surface of control system dimensioning machine people；
F, control system plans cleaning route according to the stair clean surface of detection, and programme path is gradually inside clear by outer edge
Clean route, control system control robot 1 are moved to the starting point of the corner, i.e. cleaning route of stair clean surface, gyroscope
Sensor detects the real time position of robot 1, and control system makes the Edge Distance stair edge of robot according to certain algorithm
The distance of line is not less than the second setting value, the complete cleaning route until robot 1 walks.
Operation principle：It is put down as shown in figure 3, scanning to obtain first state by the laser range sensor of robot in step a
Surface scan region 6, first state planar scanning area 6 include underclad portion, halfpace 3 and the lower floor's stair 4 of this floor ladder 2
A part, first state planar scanning area does not represent that guardrail 12, lower floor's guardrail 5 block the tiny area to be formed.Such as Fig. 6
It is shown, there is step b-d to judge, the edge of single order rank 9, determines the first stair edge line 13 in the front face of robot 1, such as schemes
Shown in 7, the front of robot 1 rotates clockwise 90 degree, and the front face wall 10 of robot 1 determines the second stair edge line
14, as shown in figure 8, the front of robot 1 rotates clockwise 90 degree again, the front face lower floor ladder 11 of robot 1 it is hanging
Place forms third story ladder edge line 15, as shown in figure 4, third story ladder edge line 15 determines the second shape of formation of rear control system
State plane scanning area 7.As shown in figure 9, the front of robot 1 is rotated further 90 degree, reach at guardrail 12, as shown in Figure 10,
When guardrail 12 is, there are during the cylinder of guardrail 12, the 4th stair edge line 16 is detected by laser range sensor on current ladder 17
It determines；When guardrail 12 on current ladder 17 when not having the cylinder of guardrail, the 4th stair edge line 16 is determined by drop sensor,
It is suitble to the judgement of a variety of situations, as shown in figure 5, after the 4th stair edge line 16 determines, forms third state flat scanning area 8,
Third state planar scanning area 8 is the clean surface of current ladder 17.
The present embodiment mainly for the cascaded surface in stair be rectangle routine stair, for non-rectangle year stair not this
In the range of the considerations of embodiment.
Claims (3)
1. a kind of stair face cleaning method of intelligent stair clean robot, it is characterised in that：Include the following steps：A, Laser Measuring
360 degree away from sensor are scanned, and detect the spacing between shelter, and are sent to control system, and control system passes through certain
Algorithm formed flat scanning figure, using the direction of advance of robot as front, control system control robot front with up time
Pin direction turns to the direction towards shelter spacing minimum；B, control system is by the front of robot and the most narrow spacing of shelter
It is compared from the first setting value, if vertical range of the control system comparing result between the front of robot and shelter
No more than the first setting value, step c is performed, if control system comparing result is vertical between the front of robot and shelter
Distance is more than the first setting value, performs step d；C, control system in flat scanning figure with the vertical and robot where the point
The straight line of direction of advance is stair edge line, and robot rotates clockwise 90 degree, and the b that repeats the above steps, and works as revolute
Angle when reaching 360 degree, perform step e；D, robot walks forward, if the height of the drop sensor detection in front exists
During drop, repeat the above steps c, if the drop sensor in front detects that height does not have drop, repeat the above steps b；e、
By the closed area of four stair edge lines due to stair clean surface, location information is transferred to control system by gyro sensor
In control system, the position of stair clean surface where control system dimensioning machine people；F, control system is clear according to the stair of detection
Face cleaning plans cleaning route, and programme path is by the gradual inside cleaning route of outer edge, the movement of control system control robot
To the starting point of the corner of stair clean surface, i.e. cleaning route, gyro sensor detects the real time position of robot, control
System makes the distance of the Edge Distance stair edge line of robot according to certain algorithm not less than the second setting value, until machine
Complete cleaning route of people's walking.
2. the stair face cleaning method of intelligent stair clean robot according to claim 1, it is characterised in that：Described
Drop sensor includes transmitter and receiver, when drop sensor is detected without drop, the electromagnetism of transmitter transmitting
Ripple is the first setting time by the time that receiver receives, and when the detection of drop sensor is there are during drop, the transmitter is sent out
The time that the electromagnetic wave penetrated is received by receiver is more than the first setting time or receiver without reception.
3. the stair face cleaning method of intelligent stair clean robot according to claim 1, it is characterised in that：Described
Robot includes running gear, cleaning device, sensing device and control system, and the sensing device is sensed including laser ranging
Device, drop sensor, sound ranging sensor, gyro sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711035140.2A CN108078498A (en) | 2017-10-30 | 2017-10-30 | A kind of stair face cleaning method of intelligent stair clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711035140.2A CN108078498A (en) | 2017-10-30 | 2017-10-30 | A kind of stair face cleaning method of intelligent stair clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108078498A true CN108078498A (en) | 2018-05-29 |
Family
ID=62171952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711035140.2A Pending CN108078498A (en) | 2017-10-30 | 2017-10-30 | A kind of stair face cleaning method of intelligent stair clean robot |
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| Country | Link |
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| CN (1) | CN108078498A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111214173A (en) * | 2019-11-21 | 2020-06-02 | 三峡大学 | Crawler-type stair-climbing dust collection device and method |
| CN115120143A (en) * | 2022-07-06 | 2022-09-30 | 高蔚智能机器人(深圳)有限公司 | Control method of stair cleaning robot |
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| US5440216A (en) * | 1993-06-08 | 1995-08-08 | Samsung Electronics Co., Ltd. | Robot cleaner |
| CN1799489A (en) * | 2005-12-21 | 2006-07-12 | 田角峰 | Method for controlling working route of automatic dust cleaner |
| CN102113853A (en) * | 2011-02-28 | 2011-07-06 | 莱克电气股份有限公司 | Method for cleaning intelligent dust collector |
| CN105595924A (en) * | 2014-06-04 | 2016-05-25 | 南通大学 | Method for effectively achieving transition of stair cleaning robot from stair to middle platform to stair |
| CN106527423A (en) * | 2015-09-15 | 2017-03-22 | 小米科技有限责任公司 | Cleaning robot and control method therefor |
| CN106527424A (en) * | 2016-09-20 | 2017-03-22 | 深圳市银星智能科技股份有限公司 | Mobile robot and navigation method of mobile robot |
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2017
- 2017-10-30 CN CN201711035140.2A patent/CN108078498A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5440216A (en) * | 1993-06-08 | 1995-08-08 | Samsung Electronics Co., Ltd. | Robot cleaner |
| CN1799489A (en) * | 2005-12-21 | 2006-07-12 | 田角峰 | Method for controlling working route of automatic dust cleaner |
| CN102113853A (en) * | 2011-02-28 | 2011-07-06 | 莱克电气股份有限公司 | Method for cleaning intelligent dust collector |
| CN105595924A (en) * | 2014-06-04 | 2016-05-25 | 南通大学 | Method for effectively achieving transition of stair cleaning robot from stair to middle platform to stair |
| CN106527423A (en) * | 2015-09-15 | 2017-03-22 | 小米科技有限责任公司 | Cleaning robot and control method therefor |
| CN106527424A (en) * | 2016-09-20 | 2017-03-22 | 深圳市银星智能科技股份有限公司 | Mobile robot and navigation method of mobile robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111214173A (en) * | 2019-11-21 | 2020-06-02 | 三峡大学 | Crawler-type stair-climbing dust collection device and method |
| CN115120143A (en) * | 2022-07-06 | 2022-09-30 | 高蔚智能机器人(深圳)有限公司 | Control method of stair cleaning robot |
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Application publication date: 20180529 |
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