CN110338135B - Obstacle avoidance walking method of fish tank cleaning robot - Google Patents
Obstacle avoidance walking method of fish tank cleaning robot Download PDFInfo
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- CN110338135B CN110338135B CN201810296603.9A CN201810296603A CN110338135B CN 110338135 B CN110338135 B CN 110338135B CN 201810296603 A CN201810296603 A CN 201810296603A CN 110338135 B CN110338135 B CN 110338135B
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 148
- 238000004140 cleaning Methods 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000004888 barrier function Effects 0.000 claims description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009401 outcrossing Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/10—Cleaning bottoms or walls of ponds or receptacles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses an obstacle avoidance walking method of a fish tank cleaning robot, which comprises the following steps: the robot starts from the initial position, walks in a bow shape along the first direction, and sequentially traverses the inner wall of each fish tank; when the robot walks and detects the obstacle, judging the type of the obstacle; when the obstacle is judged to be a fixed obstacle, the robot returns to the initial position after traversing the side, provided with the obstacle, of the inner wall of the fish tank, which is positioned on the walking side of the robot; and when the obstacle is judged to be a moving obstacle, the robot stops walking, continues walking after a preset time, and sequentially traverses the inner walls of the fish tanks. The obstacle avoidance walking method of the fish tank cleaning robot has the advantages that the program control is simple, a plurality of sensors are not required to be configured, and the robot cost is reduced; the bow-shaped walking path can ensure that the inner wall of the fish tank is completely covered, and the cleaning effect is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an obstacle avoidance walking method of a fish tank cleaning robot.
Background
The attachments on the inner wall of the fish tank not only harm the health of the fish, but also affect the ornamental value of the fish, so that the inner wall of the fish tank needs to be cleaned regularly to keep the clean environment of the fish tank. The existing fish tank cleaning robot realizes the contact cleaning of the robot and the fish tank wall and the conversion of the running direction through the running of the propeller, but when the inner wall of the fish tank is provided with the drain pipe, the drain pipe can block the walking of the fish tank cleaning robot, the robot needs to complete the action of crossing the barrier, the program control of the robot is complex, and various sensors need to be configured to complete the crossing, so the cost is high.
Disclosure of Invention
Based on the above, the technical problem to be solved by the invention is to provide an obstacle avoidance walking method of a fish tank cleaning robot, which is simple in program control, low in cost and high in coverage rate.
In order to solve the technical problems, the invention adopts the following technical scheme:
an obstacle avoidance walking method of a fish tank cleaning robot is characterized in that obstacles are arranged in a fish tank, the obstacles comprise one or more moving obstacles and a fixed obstacle, and the method comprises the following steps:
the robot starts from the initial position, walks in a bow shape along the first direction, and sequentially traverses the inner wall of each fish tank;
when the robot walks and detects an obstacle, judging the type of the obstacle;
when the obstacle is judged to be a fixed obstacle, the robot returns to the initial position after traversing the side, provided with the obstacle, of the inner wall of the fish tank, which is positioned on the walking side of the robot;
the robot walks in a bow shape along the direction opposite to the first direction and sequentially traverses the rest inner wall of the fish tank.
And when the barrier is judged to be a moving barrier, the robot stops walking, continues walking after a preset time, and sequentially traverses the inner wall of each fish tank.
In one embodiment, the bow traversal is a walk in a vertical direction traversal.
In one embodiment, the bow traversal is a walk in a horizontal direction.
In one embodiment, the step of sequentially traversing the inner wall of each aquarium comprises:
when the zigzag traversal of the inner wall of each fish tank is finished, judging whether the robot is positioned at the bottom side of the inner wall of the fish tank;
when the robot is positioned at the bottom side of the inner wall of the fish tank, the robot turns over and moves to the inner wall of the next fish tank to walk and traverse;
when the robot is not positioned at the bottom side of the inner wall of the fish tank, the robot walks to the bottom side of the inner wall of the fish tank along the edge of the inner wall of the fish tank, and then turns over to move to the inner wall of the next fish tank to walk and traverse.
In one embodiment, in the step of returning the robot to the starting position, the robot returns to the starting position along the inner wall and the bottom surface of the fish tank with the shortest distance.
In one embodiment, in the step of returning the robot to the starting position, the robot returns to the starting position along the bottom side of the inner wall of the fish tank on the walking side of the robot.
In one embodiment, after the step of sequentially traversing the remaining inner walls of the fish tank, the method further comprises the following steps: the robot returns to the starting position.
In one embodiment, the starting position is arranged at the bottom side of the inner wall of the fish tank.
In one embodiment, the robot comprises a wireless charging module, the starting position is provided with a wireless charging device, and the wireless charging device charges the robot through the wireless charging module of the robot.
In one embodiment, the robot comprises a floating water surface detection device, and the robot controls the robot to turn when floating on the water surface during the bow-shaped walking process according to the floating water surface detection device.
Compared with the prior art, the invention has the advantages and positive effects that:
in the obstacle avoidance walking method of the fish tank cleaning robot, the robot can avoid obstacles according to different obstacle types, when the obstacles are moving obstacles (fishes and the like), the robot stops acting, and the fishes walk and then walk according to the original path. When the robot detects that the obstacle is a fixed obstacle (such as a drain pipe), the robot can return to the initial position when detecting the obstacle, and walk and clean from the other opposite direction, so that the remaining wall surface of the fish tank is cleaned, and the cleaning of the inner wall of the whole fish tank is completed. The process for controlling the robot to walk is simple, and the robot does not need to be provided with a plurality of sensors to carry out crossing action, so that the cost of the robot is reduced; the bow-shaped walking path can ensure that the inner wall of the fish tank is completely covered, and the cleaning effect is improved.
Drawings
Fig. 1 is a flow chart of an obstacle avoidance walking method of a fish tank cleaning robot according to the present invention;
fig. 2 is a schematic diagram of obstacle avoidance walking of the fish tank cleaning robot according to the embodiment of the invention;
fig. 3 is a schematic diagram of obstacle avoidance walking of the fish tank cleaning robot according to the second embodiment of the invention;
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings, but which can be embodied in many different forms and varied in the manner defined and covered by the claims.
The invention provides an obstacle avoidance walking method of a fish tank cleaning robot. The fish tank is internally provided with a barrier, and the barrier comprises one or more movable barriers and a fixed barrier. In this embodiment, the starting position of the robot is arranged at the bottom side of the inner wall of the fish tank. The fish tank water drainage pipe is arranged on the inner wall of the fish tank opposite to the initial position. The robot can detect the barrier on the walking route through the barrier detection device and judge the type of the barrier, namely whether the barrier is a moving barrier such as fish or a fixed barrier such as a drain pipe.
As shown in fig. 1, the obstacle avoidance walking method of the fish tank cleaning robot comprises the following steps:
s100, starting from the initial position, the robot walks in a bow shape along the first direction and sequentially traverses the inner wall of each fish tank;
s200, when the robot walks to detect the obstacle, judging the type of the obstacle;
s310, when the obstacle is judged to be a fixed obstacle, the robot returns to the initial position after traversing the side, provided with the obstacle, of the inner wall of the fish tank, which is positioned on the walking side of the robot;
s311, the robot walks in a bow shape along the direction opposite to the first direction and sequentially traverses the inner walls of the rest fish tanks;
and S320, when the barrier is judged to be a moving barrier, stopping the robot, continuing to walk after a preset time, and traversing the inner wall of each fish tank in sequence.
In the obstacle avoidance walking method of the fish tank cleaning robot, when the robot detects an obstacle, the type of the obstacle is judged, and when the obstacle is a moving obstacle (fish and the like), the robot stops moving, and walks according to an original path after the fish swim. When the robot detects that the obstacles are fixed obstacles (such as drain pipes and the like), the robot can return to the initial position, walk and clean from the other opposite direction, and clean the wall surface of the residual fish tank, thereby completing the cleaning of the inner wall of the whole fish tank. The process for controlling the robot to walk is simple, and the robot does not need to be provided with a plurality of sensors to carry out crossing action, so that the cost of the robot is reduced; the bow-shaped walking path can ensure that the inner wall of the fish tank is completely covered, and the cleaning effect is improved.
Example one
Fig. 2 is a schematic diagram of obstacle avoidance walking of the fish tank cleaning robot according to the embodiment of the invention. As shown in fig. 2, the specific obstacle avoidance walking process of the present invention is described as follows. In the embodiment, the robot walks in the vertical direction, and traverses the inner wall of each fish tank in a bow shape. The robot starts from the starting position a at the bottom, moves leftwards for a certain distance and then walks downwards when walking upwards to the top of the fish tank, and traverses the inner wall of the fish tank on the left side along the bow-shaped path. When the robot traverses the inner wall of the fish tank on the left side, the robot turns over and moves to the inner wall of the other adjacent fish tank, the robot continues to traverse the inner wall of the fish tank in a bow-shaped manner, and so on. When the robot detects the obstacle A, if the robot is positioned at the top of the inner wall of the fish tank, the robot turns to continue to walk downwards, and traversal of one side of the inner wall of the fish tank, which is positioned at the walking side of the robot, of the fish tank is completed. Then, the robot returns to the home position. After the robot returns to the initial position, the robot walks in the direction opposite to the previous running direction, and traverses the rest of the inner wall of the fish tank (not shown in fig. 2). When the initial position of the robot is arranged at the bottom side of the inner wall of the fish tank, the robot returns to the initial position, moves rightwards and then walks upwards to traverse the other side of the inner wall of the fish tank. Of course, the user can walk upwards and then move rightwards to traverse the Chinese character 'gong'. In other embodiments, when the initial position of the robot is set in the middle of the inner wall of the fish tank, the robot returns to the initial position, walks downwards and moves rightwards again to traverse the other side of the inner wall of the fish tank.
Further, in the step S100, the step of sequentially traversing the inner wall of each fish tank includes:
s110, judging whether the robot is positioned at the bottom side of the inner wall of the fish tank when the zigzag traversal of the inner wall of each fish tank is finished;
s120, when the robot is positioned at the bottom side of the inner wall of the fish tank, the robot turns over and moves to the inner wall of the next fish tank to walk and traverse;
s130, when the robot is not positioned at the bottom side of the inner wall of the fish tank, the robot walks to the bottom side of the inner wall of the fish tank along the edge of the inner wall of the fish tank, and then turns over to move to the inner wall of the next fish tank to walk and traverse.
The robot is arranged at the bottom side of the inner wall of the fish tank for turning and walking, so that the robot can be ensured to more smoothly complete turning operation along the bottom surface of the fish tank; meanwhile, if the robot is positioned on the top side of the inner wall of the fish tank, the robot walks to the bottom side of the inner wall of the fish tank along the edge of the inner wall of the fish tank, so that corners of the fish tank can be repeatedly cleaned, and the cleaning effect of the corners of the inner wall of the fish tank is improved. As shown in fig. 2, in this embodiment, when the robot travels to the b-point position, it returns to the c-point position and turns over to turn to the inner wall of another fish tank. And similarly, when the fish tank walks to the position of the d point, the fish tank returns to the position of the e point again, and is turned over to the inner wall of the other fish tank from the point e. In other embodiments, the robot may perform the turning operation after repeatedly walking along the edge of the inner wall of each fish tank once after traversing the inner wall of each fish tank, and perform the zigzag traversal after repeatedly walking the edge of the inner wall of another fish tank once after turning.
Specifically, in step S310, the robot returns to the starting position in two ways. Mode 1, the robot returns to the initial position at the shortest distance along the inner wall and the bottom surface of the fish tank, that is, in the present embodiment, returns to the initial position a from the position of f point along the straight line of the bottom surface of the fish tank. The robot returns to the initial position from the barrier A along the inner wall and the bottom surface of the robot, so that the walking time of the robot is shortened, and the walking cleaning efficiency is improved. In mode 2, the robot returns to the initial position along the bottom side of the inner wall of the fish tank on the walking side, i.e., returns to the initial position a from the position f through points d and c along the bottom side of the inner wall of the fish tank. The fish tank inner wall cleaning device returns along the walking side, the bottom side of the cleaned fish tank inner wall can be cleaned again, the deposits of attachments on the bottom side of the common fish tank inner wall are more, and the return path can ensure the cleaning effect of the fish tank inner wall.
Example two
In this embodiment, the difference from the first embodiment is that the robot has a different direction of traversal of the bow shape. In the present embodiment, fig. 3 schematically shows that the robot walks in the horizontal direction, and the bow-shaped traverse is performed on the inner wall of each fish tank. The robot starts from the initial position of the bottom, moves upwards for a certain distance and then turns to move rightwards when walking to the edge of the inner wall of the fish tank, and when moving to the position above the initial position, turns again and traverses the inner wall of the fish tank on the left side along a zigzag path. When the robot traverses the inner wall of the fish tank on the left side, the robot turns over and moves to the inner wall of the other adjacent fish tank, the robot continues to traverse the inner wall of the fish tank in a bow-shaped manner, and so on. When the robot moves to the inner wall of the fish tank with the obstacle A to walk and detects the obstacle A, the robot turns to move for a certain distance and then turns to, and the robot continues to walk to traverse the inner wall of the fish tank on the walking side of the robot. Then, after the robot returns to the initial position, the robot walks in the direction opposite to the previous running direction, and traverses the residual inner wall of the fish tank.
Further, in step S311, after the steps of sequentially traversing the remaining inner walls of the fish tank, the method further includes:
s400, the robot returns to the initial position. The robot may return to the home position along the bottom surface of the aquarium or along the bottom side of the inner wall of the aquarium in reference to the manner in which the robot returns to the home position in step S200.
Furthermore, the robot comprises a floating water surface detection device, and the robot controls the robot to turn when floating out of the water surface in the bow-shaped walking process according to the floating water surface detection device.
Further, the robot also includes wireless charging module, and wireless charging device sets up at the initial position. The wireless charging device can charge the robot through the wireless charging module of the robot. And when the robot finishes charging at the initial position a, starting from the initial position, and performing fish tank cleaning operation. When the cleaning is completed, the robot returns to the home position a, and stands by or performs a charging operation again.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A barrier avoiding walking method of a fish tank cleaning robot is characterized in that barriers are arranged in a fish tank, the barriers comprise one or more moving barriers and a fixed barrier, and the method comprises the following steps:
the robot starts from the initial position, walks in a bow shape along the first direction, and sequentially traverses the inner wall of each fish tank;
when the robot walks and detects an obstacle, judging the type of the obstacle;
when the obstacle is judged to be a fixed obstacle, the robot returns to the initial position after traversing the side, provided with the obstacle, of the inner wall of the fish tank, which is positioned on the walking side of the robot;
the robot walks in a bow shape along the direction opposite to the first direction and sequentially traverses the inner walls of the rest fish tanks;
and when the barrier is judged to be a moving barrier, the robot stops walking, continues walking after a preset time, and sequentially traverses the inner wall of each fish tank.
2. An obstacle avoidance walking method for a fish tank cleaning robot as claimed in claim 1, wherein the zigzag traversal is a traversal of walking in a vertical direction.
3. An obstacle avoidance walking method for a fish tank cleaning robot as claimed in claim 1, wherein the zigzag traversal is a traversal of walking in a horizontal direction.
4. An obstacle avoidance walking method of a fish tank cleaning robot as claimed in claim 1, wherein the step of sequentially traversing the inner wall of each fish tank comprises:
when the zigzag traversal of the inner wall of each fish tank is finished, judging whether the robot is positioned at the bottom side of the inner wall of the fish tank;
when the robot is positioned at the bottom side of the inner wall of the fish tank, the robot turns over and moves to the inner wall of the next fish tank to walk and traverse;
when the robot is not positioned at the bottom side of the inner wall of the fish tank, the robot walks to the bottom side of the inner wall of the fish tank along the edge of the inner wall of the fish tank, and then turns over to move to the inner wall of the next fish tank to walk and traverse.
5. An obstacle avoidance walking method for a fish tank cleaning robot as claimed in any one of claims 1 to 4, wherein in the step of returning the robot to the home position, the robot is returned to the home position along the inner wall and bottom surface of the fish tank at the shortest distance.
6. An obstacle avoidance walking method for a fish tank cleaning robot as claimed in any one of claims 1 to 4, wherein in the step of returning the robot to the home position, the robot is returned to the home position along a bottom side of the inner wall of the fish tank on the walking side thereof.
7. An obstacle avoidance walking method of a fish tank cleaning robot as claimed in claim 1, further comprising, after the step of sequentially traversing the remaining inner walls of the fish tank: the robot returns to the starting position.
8. An obstacle avoidance walking method of a fish tank cleaning robot as claimed in claim 1, wherein the starting position is arranged at the bottom side of the inner wall of the fish tank.
9. An obstacle avoidance walking method of a fish tank cleaning robot as claimed in claim 1, wherein the robot comprises a wireless charging module, a wireless charging device is arranged at the starting position, and the wireless charging device charges the robot through the wireless charging module of the robot.
10. An obstacle avoidance walking method of a fish tank cleaning robot as claimed in claim 1, wherein the robot comprises a floating surface detection device, and the robot controls the robot to turn when floating on the water surface in the bow-shaped walking process according to the floating surface detection device.
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| CN201810296603.9A CN110338135B (en) | 2018-04-02 | 2018-04-02 | Obstacle avoidance walking method of fish tank cleaning robot |
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| CN201810296603.9A CN110338135B (en) | 2018-04-02 | 2018-04-02 | Obstacle avoidance walking method of fish tank cleaning robot |
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| CN113741467B (en) * | 2021-09-07 | 2023-10-13 | 深圳大方智能科技有限公司 | Vertical wall surface construction method and construction robot |
| CN117260745B (en) * | 2023-11-22 | 2024-02-27 | 光交澳(上海)智能科技有限公司 | Water tank cleaning method, device, equipment and storage medium |
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| PL201600B1 (en) * | 2003-05-08 | 2009-04-30 | Janusz Marek Jankiewicz | External filter |
| US8340820B2 (en) * | 2010-02-26 | 2012-12-25 | Agilent Technologies, Inc. | Robot arm and method of controlling robot arm to avoid collisions |
| CN201839708U (en) * | 2010-10-28 | 2011-05-25 | 广州市花都区旺通五金电器厂 | Aquarium magnetic brush used for cleaning |
| EP2821874B1 (en) * | 2012-03-02 | 2017-08-02 | Positec Power Tools (Suzhou) Co., Ltd | Automatically travelling device and control method therefor |
| CN202825830U (en) * | 2012-09-12 | 2013-03-27 | 上海通彩自动化设备有限公司 | Quadratic element manipulator automatic production equipment |
| CN103720426B (en) * | 2012-10-12 | 2016-08-03 | 科沃斯机器人有限公司 | A kind of glass-cleaning robot current failure emergency processing method |
| CN104705239A (en) * | 2013-12-14 | 2015-06-17 | 李美珍 | Intelligent fish tank cleaning auxiliary robot and working method thereof |
| US9764472B1 (en) * | 2014-07-18 | 2017-09-19 | Bobsweep Inc. | Methods and systems for automated robotic movement |
| CN104798710B (en) * | 2015-04-24 | 2017-03-01 | 慈溪欧新生物科技有限公司 | A kind of breeding barrel being capable of automated cleaning |
| CN105815252A (en) * | 2016-05-01 | 2016-08-03 | 王凯盛 | Robot for automatically cleaning fish tank |
| CN106239528B (en) * | 2016-08-30 | 2019-04-09 | 宁波菜鸟智能科技有限公司 | The path cleaning method of sweeping robot |
| CN206482532U (en) * | 2016-10-13 | 2017-09-12 | 青岛塔波尔机器人技术有限公司 | A kind of clean robot |
| CN106737709B (en) * | 2016-11-25 | 2019-10-15 | 北京小米移动软件有限公司 | Cleaning method and device |
| CN106805856A (en) * | 2016-12-31 | 2017-06-09 | 鸿奇机器人股份有限公司 | The method for controlling clean robot |
| CN107368079B (en) * | 2017-08-31 | 2019-09-06 | 珠海市一微半导体有限公司 | The planing method and chip in robot cleaning path |
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