CN104644061B - Self-movement robot and its antidote with apparatus for correcting - Google Patents
Self-movement robot and its antidote with apparatus for correcting Download PDFInfo
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- CN104644061B CN104644061B CN201310591136.XA CN201310591136A CN104644061B CN 104644061 B CN104644061 B CN 104644061B CN 201310591136 A CN201310591136 A CN 201310591136A CN 104644061 B CN104644061 B CN 104644061B
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- main body
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- frame
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- 239000000729 antidote Substances 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 62
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000010276 construction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000004140 cleaning Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
-
- 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
Abstract
A kind of self-movement robot and its antidote with apparatus for correcting, its device include：Main body（1）, the main body（1）Provided with control unit（2）, direction sensor（3）And walking unit（4）, the described control unit control self-movement robot with apparatus for correcting walk according to default walking mode, direction of travel of the direction sensor for indicating robot, and boundary detection sensor is additionally provided with the main body（5）And be connected with described control unit, according to the induced signal of boundary detection sensor, control unit judges whether direction sensor is in correct working condition, and it is corrected if direction sensor is in the working condition of mistake.Self-movement robot of the present invention with apparatus for correcting is simple in construction, boundary detection sensor is used for into clean robot can aid in direction working sensor, verify the accuracy of its testing result so that robot all the time can be with less error level or vertical shift.
Description
Technical field
The present invention relates to a kind of self-movement robot and its antidote with apparatus for correcting, belong to small household appliances manufacture skill
Art field.
Background technology
Existing clean robot is moved on the work surface by crawler belt or wheel, to improve cleaning efficiency, machine
The travel track of device is typically all to be formulated for " bow " zag trajectory perpendicular to a line（As shown in Figs. 7-8）.
At present, clean robot is moved according to default travel track in working surface, mainly by acceleration transducer or
The direction sensors such as gyroscope indicate the direction of travel of robot.Acceleration transducer is arranged on clean robot, and with
Control unit is connected, and the motion state of clean robot is detected by acceleration transducer, while testing result is fed back into control
Unit processed, sends instruction by control unit and is adjusted correspondingly if there is inclination or deviation projected route.But in the party
In case, the direction of travel of robot is indicated by electronic components such as acceleration transducers, and electronic component is used for a long time
Certain accumulated error can be produced, when acceleration transducer has error, the direction indication of acceleration transducer deviates former rule
The direction in path is drawn, so that clean robot can not walk along the route of predetermined planning, to clean robot on the work surface
Cleaning efficiency there is large effect.
The content of the invention
The technical problems to be solved by the invention are, provide a kind of with apparatus for correcting in view of the shortcomings of the prior art
Self-movement robot and its antidote, direction sensor work can be aided in by being used for clean robot by boundary detection sensor
Make, verify the accuracy of its testing result so that robot all the time can be with less error level or vertical shift.
The technical problems to be solved by the invention are achieved by the following technical solution：
A kind of self-movement robot with apparatus for correcting, including：Main body, the main body is provided with control unit, side
To sensor and walking unit, the described control unit control self-movement robot with apparatus for correcting is according to default walking
Pattern is walked, and the direction sensor is used to be additionally provided with border detection biography on the direction of travel for indicating robot, the main body
Sensor, the boundary detection sensor is connected with described control unit, and according to the induced signal of boundary detection sensor, control is single
Member judges whether direction sensor is in correct working condition, and it is rectified if direction sensor is in the working condition of mistake
Just.
Preferably, the boundary detection sensor is at least two.
Preferably, the end face both sides of the main body are respectively equipped with least one boundary detection sensor.
Preferably, the end face is the front end face or rear end face of main body
The boundary detection sensor is touch sensor or noncontacting proximity sensor.
The direction sensor is acceleration transducer, gyroscope or code-disc.
The present invention also provides a kind of antidote with the above-mentioned self-movement robot with apparatus for correcting, including such as
Lower step：
S1：Self-movement robot start be placed near frame, according to boundary detection sensor adjust main body to relative to
The pose A of frame, records the angle value of now direction sensor
S2：Self-movement robot is walked according to default walking mode, and the walking of main body 1 is indicated by direction sensor
Direction；
S3：When near robot ambulation to frame, machine is adjusted to relative to frame according to boundary detection sensor
Pose A, compares the angle value of now direction sensorWhether withIt is equal, ifIt is not equal toThen make correction for direction sensor
Angle value extremelyAfterwards, S2 is returned, S2 is otherwise directly returned.
More typical, the frame is horizontal frame or vertical frame.
The pose A relative to frame, the boundary detection sensor are quickly and accurately found for convenience of self-movement robot
Main body front end face both sides are arranged at, then pose A is that main body front end is parallel with frame, certainly, the boundary detection sensor
Main body rear end face both sides can also be arranged at, then pose A is that main body rear end is parallel with frame.
Preferably, the boundary detection sensor adjust main body to pose A be by being arranged at the front end face two of main body 1
The boundary detection sensor 5 on side or rear end face both sides senses different sideband signal or only one side apparatus for correcting detects border
Signal.
To improve the operating efficiency of self-movement robot, the default walking mode is planned to " bow " word perpendicular to frame
Shape route or reciprocating linear route.
It is preferred that, when " bow " font mode or reciprocating linear pattern walking of the Robot perpendicular to frame, control is single
Member runs to border in working surface according to the feedback signal control main frame body of direction sensor to the direction of frame, is arranged at master
When the boundary detection sensor of body front end face or rear end face detects the inclination of main frame posture, the mistake for the sensor that makes correction for direction
Difference.
Self-movement robot of the present invention with apparatus for correcting is simple in construction, and boundary detection sensor is used for into cleaning machine
People can aid in direction working sensor, verify the accuracy of its testing result so that robot all the time can be with less mistake
Difference is mobile.
Technical scheme is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the self-movement robot control structure block diagram with apparatus for correcting；
Fig. 2 is the schematic diagram that boundary detection sensor is arranged at main body front end both sides；
Fig. 3 is the schematic diagram that boundary detection sensor is arranged at main body rear end both sides；
Fig. 4 is the antidote block diagram of the self-movement robot with apparatus for correcting；
Fig. 5 is the correcting process schematic diagram that boundary detection sensor is arranged at main body front end both sides；
Fig. 6 is the correcting process schematic diagram that boundary detection sensor is arranged at main body rear end both sides；
Fig. 7 is that prior art wipes the planning of clean robot legacy paths（Horizontal direction）Schematic diagram；
Fig. 8 is that prior art wipes the planning of clean robot legacy paths（Vertical direction）Schematic diagram.
Embodiment
Fig. 1 is the self-movement robot control structure block diagram with apparatus for correcting, and Fig. 2 is the cleaner with apparatus for correcting
The structural representation of device people embodiment one, such as Fig. 2 and with reference to shown in Fig. 1, a kind of self-movement robot with apparatus for correcting, bag
Include：Main body 1, the main body 1 is provided with control unit 2, direction sensor 3 and walking unit 4, and described control unit 2 is controlled
The self-movement robot is walked according to default walking mode, such as " bow " font walking perpendicular to frame or reciprocating linear row
Walk, the direction sensor 3 is used to indicating the direction of travel of robot, the direction sensor 3 can for acceleration transducer,
Gyroscope or code-disc etc..As shown in figure 5, using shown by arrow direction indication as the forward direction of self-movement robot, before main body 1
End both sides respectively set a boundary detection sensor 5, as shown in Fig. 2 the boundary detection sensor 5 is connected with described control unit 2,
According to the induced signal of boundary detection sensor 5, control unit 2 judges whether direction sensor is in correct working condition,
It is corrected if direction sensor 3 is in the working condition of mistake, it should be pointed out that each on the front end both sides of main body 1
If a boundary detection sensor 5 is only a kind of set-up mode cited by the present embodiment, the boundary detection sensor equally may be used
To be arranged at the left and right sides of main body 1 or the rear end of main body 1（As shown in Figure 3）, the quantity of the boundary detection sensor 5
Can be multiple more than any one.
Referring again to shown in Fig. 5, specifically, being made below with main body 1 provided with gravity accelerometer or gyroscope
For direction sensor 3, the front end the right and left of main body 1 is explained exemplified by being respectively equipped with boundary detection sensor 5.When certainly
Mobile robot is walked vertically using " bow " font as shown in Figure 8, and direction sensor 3 is square on the basis of gravity direction all the time
To control machine people repeats walking straight up and encounters the walking process walked straight down again after frame is turned.When direction is passed
During 3 normal work of sensor, robot can accurately identify vertical direction；But with walking on for robot, direction sensor 3 goes out
Existing error, then the direction of robot ambulation can deviate vertical direction, and robot still thinks vertically walk in itself, makes
Into larger walking result error, cleaning efficiency of robot etc. is reduced.And when robot walks to frame up or down,
The pose of robot is detected in real time by the boundary detection sensor 5 of its front end to judge direction sensor 3 whether in correct
Working condition.Such as when instruction of the robot according to direction sensor 3, when frame is encountered in walking upwards, robot front end is left and right
The boundary detection sensor 5 on both sides senses signal simultaneously, then judges that direction sensor 3 is in correct working condition；If only
The boundary detection sensor 5 on the front end left side of main body 1 or the boundary detection sensor 5 on the right sense signal, then judge fuselage
Tilt, robot deviates vertical direction, direction sensor 3 is in the working condition of mistake, it need to be corrected.Certainly, if
During using sonac or infrared sensor, if robot ambulation is to frame, the boundary detection sensor 5 on left and right side is not
Signal can be received simultaneously or the power difference of signal is received, then robot judges that fuselage is tilted, and direction sensor 3 is in mistake
Working condition, need to be corrected by mistake to it.
In above-mentioned implementation, glass frame is horizontally disposed in itself.If glass frame is inclined, when robot is upward
Or walking downwards, according only to whether receiving the sensing signal of boundary detection sensor 5 or receive two different borders and examine
The sensing signal of sensor 5 is surveyed, robot can not judge whether fuselage deviates vertically, and then can not judge that direction sensor 3 is
It is no to there is error, in working condition correctly or incorrectly.At this time, it may be necessary to first self-movement robot is placed near frame, root
Main body 1 is adjusted to the pose A relative to frame according to boundary detection sensor 5（The front end left side of main body 1, the right sense simultaneously
To signal or sense the signal of same intensity）, record the angle value of now direction sensor 3（Such as frame and horizontal direction
During in 45 degree,For 45 degree, i.e., fuselage deviates 45 degree of vertical direction）.
When Robot vertical direction carries out bow font mode walking, if robot according to the instruction of direction sensor to
Frame is encountered in upper walking, need to adjust machine again according to boundary detection sensor 5 to the pose A relative to frame,（Adjust machine
The position of body so that the body front end left side, the right sense signal or sense the signal of same intensity simultaneously）, compare now
The angle value of direction sensor 3Whether withIt is equal, ifIt is not equal toThen make correction for direction sensor 3 angle value extremely
Afterwards, S2 is returned, S2 is otherwise directly returned.Preferably, every one section of default time t, being corrected once to the direction sensor.
Above-mentioned embodiment respectively sets a boundary detection sensor by the front end both sides of main body 1 and judges robot ambulation to side
During frame, whether fuselage tilts, and a boundary detection sensor can be equally used only and arrives same purpose up to 5.Below with machine
A boundary detection sensor 5 is set to be explained in the middle of the front end of people.If boundary detection sensor 5 is contact-sensing
Device, such as travel switch, when robot ambulation is to frame（Such as stopped situation about can not walk on by frame）If, control unit sense
Travel switch collision alarm is not detected, then judges that fuselage is tilted, direction sensor need to be corrected；If control unit can be felt
Travel switch collision alarm is measured, then judges that direction sensor is in correct working condition.If boundary detection sensor 5 is non-
Touch sensor, such as infrared sensor, the infrared sensor include a transmitter and a receiver, when robot ambulation is arrived
During frame, if receiver does not receive infrared signal or receives signal intensity less than preset value, judge that fuselage is tilted, need other side
Corrected to sensor；If receiver receives infrared signal, judge that direction sensor is in correct working condition.
When " bow " font mode or reciprocating linear pattern walking of the Robot perpendicular to frame, the basis of control unit 2
The feedback signal control main frame body 1 of direction sensor 3 runs to border in working surface to the direction of frame, is arranged at main body
When the boundary detection sensor 5 of 1 front end face or rear end face detects the inclination of the pose of main body 1, the error for the sensor that makes correction for direction.
Such as when Robot, which deviates frame certain angle, carries out " bow " font mode or the walking of reciprocating linear pattern, referring to
Fig. 4, can be walked using a kind of antidote of following self-movement robots with apparatus for correcting,
Specifically include following steps：
S1：Self-movement robot is placed near frame, and main body 1 is adjusted to relative to side according to boundary detection sensor 5
The pose A of frame, records the angle value of now direction sensor
S2：Self-movement robot is walked according to default walking mode, and the row of main body 1 is indicated by direction sensor 3
Direction is walked, the default walking mode is " bow " zig-zag path or reciprocating linear route perpendicular to frame；
S3：When near robot ambulation to frame, machine is adjusted to relative to frame according to boundary detection sensor 5
Pose A, compares the angle value of now direction sensor 3Whether withIt is equal, ifIt is not equal toThen make correction for direction sensing
The angle value of device 3 is extremelyAfterwards, S2 is returned, S2 is otherwise directly returned.
It should be noted that the position orientation relation of shown main body and frame is needed according to boundary detection sensor set-up mode
It is determined that.In the present embodiment, a boundary detection sensor 5 is respectively set on the front end both sides of main body 1, then based on the pose A
The front end of body 1 is parallel with frame, certainly, if boundary detection sensor 5 is arranged at the rear end both sides of main body 1, based on the pose A
The rear end of body 1 is parallel with frame（As shown in Figure 6）.It is pointed out that when Robot is perpendicular to " bow " font mould of frame
The antidote can be equally used when formula or the walking of reciprocating linear pattern.
To sum up, self-movement robot of the present invention with apparatus for correcting is simple in construction, boundary detection sensor is used for clear
Clean robot can aid in direction working sensor, verify the accuracy of its testing result so that robot all the time can with compared with
Small error movement.
Claims (13)
1. a kind of self-movement robot with apparatus for correcting, including：Main body（1）, the main body（1）Provided with control unit
（2）, direction sensor（3）And walking unit（4）, described control unit（2）Control it is described with apparatus for correcting from moving machine
Device people walks according to default walking mode, and the direction sensor is used for the direction of travel for indicating robot, it is characterised in that institute
State main body（1）On be additionally provided with boundary detection sensor（5）, the boundary detection sensor（5）With described control unit（2）Even
Connect, according to boundary detection sensor（5）Induced signal, control unit（2）Judge whether direction sensor is in correct work
Make state, it is corrected if direction sensor is in the working condition of mistake.
2. the self-movement robot of apparatus for correcting is carried as claimed in claim 1, it is characterised in that the border detection sensing
Device（5）For at least two.
3. the self-movement robot of apparatus for correcting is carried as claimed in claim 2, it is characterised in that the main body（1）'s
End face both sides are respectively equipped with least one boundary detection sensor（5）.
4. the self-movement robot of apparatus for correcting is carried as claimed in claim 3, it is characterised in that the end face is main body
Front end face or rear end face.
5. the self-movement robot of apparatus for correcting is carried as claimed in claim 1, it is characterised in that the border detection sensing
Device（5）For touch sensor or noncontacting proximity sensor.
6. the self-movement robot of apparatus for correcting is carried as claimed in claim 1, it is characterised in that the direction sensor
（3）For acceleration transducer, gyroscope or code-disc.
7. a kind of antidote of the self-movement robot with apparatus for correcting with as described in claim any one of 1-6,
It is characterised in that it includes following steps：
S1：Self-movement robot start is placed near frame, according to boundary detection sensor（5）Adjust main body（1）To relative
In the pose A of frame, the angle value of now direction sensor is recorded
S2：Self-movement robot is walked according to default walking mode, passes through direction sensor（3）Indicate main body（1）Row
Walk direction；
S3：When near robot ambulation to frame, according to boundary detection sensor（5）Machine is adjusted to the position relative to frame
Appearance A, compares now direction sensor（3）Angle valueWhether withIt is equal, ifIt is not equal toThen make correction for direction sensing
Device（3）Angle value extremelyAfterwards, S2 is returned, S2 is otherwise directly returned.
8. the antidote of the self-movement robot according to claim 7 with apparatus for correcting, it is characterised in that：It is described
Frame is horizontal frame or vertical frame.
9. the antidote of the self-movement robot of apparatus for correcting is carried as claimed in claim 7, it is characterised in that if border
Detection sensor（5）It is arranged at main body（1）Front end face both sides, the pose A is main body（1）Front end is parallel with frame.
10. the antidote of the self-movement robot of apparatus for correcting is carried as claimed in claim 7, it is characterised in that if side
Boundary's detection sensor（5）It is arranged at main body（1）Rear end face both sides, the pose A is main body（1）Rear end is parallel with frame.
11. the antidote of the self-movement robot with apparatus for correcting as described in claim 9 or 10, it is characterised in that
Boundary detection sensor（5）Adjust main body to pose A be by being arranged at main body（1）Front end face both sides or rear end face both sides
Boundary detection sensor（5）Sense different sideband signal or only one side apparatus for correcting detects sideband signal.
12. the antidote of the self-movement robot with apparatus for correcting as described in claim 9 or 10, it is characterised in that
In S2, the default walking mode is " bow " zig-zag path or reciprocating linear route perpendicular to frame.
13. a kind of antidote of the self-movement robot with apparatus for correcting with as described in claim any one of 1-6,
It is characterized in that：The default walking mode is " bow " zig-zag path or reciprocating linear route perpendicular to frame, when control is single
Member（2）According to direction sensor（3）Feedback signal control main frame body（1）In working surface side is run to the direction of frame
Boundary, is arranged at main body（1）The boundary detection sensor of front end face or rear end face（5）Detect main body（1）When pose is tilted,
Make correction for direction the error of sensor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310591136.XA CN104644061B (en) | 2013-11-20 | 2013-11-20 | Self-movement robot and its antidote with apparatus for correcting |
| PCT/CN2014/091380 WO2015074532A1 (en) | 2013-11-20 | 2014-11-18 | Self-moving robot with correction apparatus, and correction method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310591136.XA CN104644061B (en) | 2013-11-20 | 2013-11-20 | Self-movement robot and its antidote with apparatus for correcting |
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| Publication Number | Publication Date |
|---|---|
| CN104644061A CN104644061A (en) | 2015-05-27 |
| CN104644061B true CN104644061B (en) | 2017-09-19 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310591136.XA Active CN104644061B (en) | 2013-11-20 | 2013-11-20 | Self-movement robot and its antidote with apparatus for correcting |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104644061B (en) |
| WO (1) | WO2015074532A1 (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106909140B (en) * | 2015-12-22 | 2021-02-09 | 苏州宝时得电动工具有限公司 | Route regression method and system |
| CN105816106B (en) * | 2016-05-31 | 2019-10-18 | 台州市霸业智能科技有限公司 | Intelligent sweeping robot |
| 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 |
| CN106325276B (en) * | 2016-09-21 | 2019-06-25 | 苏州瑞得恩光能科技有限公司 | The determination method and control method of robot straight-line travelling in the plane of slope |
| CN106970623B (en) * | 2017-04-18 | 2021-05-25 | 杭州匠龙机器人科技有限公司 | Intelligent cleaning device and grid path operation method thereof |
| CN108646733B (en) * | 2018-04-27 | 2021-08-10 | 杭州艾豆智能科技有限公司 | Correction method of automatic correction mobile robot |
| CN109491397B (en) * | 2019-01-14 | 2021-07-30 | 傲基科技股份有限公司 | Mowing robot and mowing area defining method thereof |
| CN110162061B (en) * | 2019-06-06 | 2022-06-24 | 深圳怪虫机器人有限公司 | Method for cleaning path linearly by photovoltaic cleaning robot |
| CN113748826B (en) * | 2020-06-01 | 2022-10-28 | 上海山科机器人有限公司 | Autonomous working apparatus and autonomous working system |
| CN115486765B (en) * | 2022-09-26 | 2023-06-27 | 茅台学院 | Self-moving robot and correction method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104644061A (en) | 2015-05-27 |
| WO2015074532A1 (en) | 2015-05-28 |
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Address after: Wuzhong Economic Development Zone in Suzhou City, Jiangsu Province, the River Street 215104 Youxiang Road No. 18 building 3 Applicant after: Ecovacs commercial robot Co Ltd Address before: Wuzhong District Wuzhong Economic Development Zone Suzhou city Jiangsu province 215104 the River Street Youxiang Road No. 18 building 3 Applicant before: Butterworth business machine people Co., Ltd of Suzhou section |
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