CN108814452A - Sweeping robot and its disorder detection method - Google Patents
Sweeping robot and its disorder detection method Download PDFInfo
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- CN108814452A CN108814452A CN201810958347.5A CN201810958347A CN108814452A CN 108814452 A CN108814452 A CN 108814452A CN 201810958347 A CN201810958347 A CN 201810958347A CN 108814452 A CN108814452 A CN 108814452A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 60
- 238000001514 detection method Methods 0.000 title claims abstract description 49
- 230000000007 visual effect Effects 0.000 claims abstract description 19
- 230000003287 optical effect Effects 0.000 claims abstract description 5
- 230000004888 barrier function Effects 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 230000002459 sustained effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000004140 cleaning Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000007363 ring formation reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
-
- 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
Abstract
The present invention relates to a kind of sweeping robot and its disorder detection method, the sweeping robot includes：Shell, the shell have side wall；Detection module is set in the shell, and the detection module includes the time-of-flight sensor that at least one is arranged along the side wall, and the time-of-flight sensor receives external optical signal by a transparent window.The sweeping robot has bigger detection visual angle.
Description
Technical field
The present invention relates to smart machine field more particularly to a kind of sweeping robots and its disorder detection method.
Background technique
Barrier is evaded, and environmental map is drawn and work planning is the important topic that robot field studies at present, sweeps the floor
Robot will generate its a working environment map to preferably complete task, then according to the reason to this environmental map
Solution cooks up most reasonable operating path, improves cleaning efficiency.
The sweeping robot of existing market prevalence is what the contact based on crash sensor was navigated, and sweeping robot is being sent out
I.e. conversion work path after raw collision, since intelligent decision can not be made to barrier, such as the volume of barrier, type etc., because
The disadvantages such as there is cleaning coverage rate be low in this.And it will cause dangerous or loss when colliding with breakable object.It is existing at present to sweep
Floor-washing robot intelligent barrier avoiding method is mainly based upon the avoidance technology of ultrasonic distance measurement avoidance technology, laser ranging etc..
Since ultrasonic distance measurement, laser ranging etc. are required to using mechanical structure, volume is larger, therefore in the prior art,
The obstacle detection device of sweeping robot is both secured at the top of robot as bulge-structure, due to limited viewing angle, is caused pair
It can not be identified in a lower height of barrier, such as cable, the door line on ground etc., sweeping robot is caused to hold during the work time
Easily it is stuck.Also, it since detection part uses mechanical structure, is easy to damage in collision process, reliability is lower.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of sweeping robot and its disorder detection method, raising is swept
The detection of obstacles range of floor-washing robot.
To solve the above-mentioned problems, the present invention provides a kind of sweeping robots, including：Shell, the shell have side
Wall；Detection module is set in the shell, and the detection module includes the flight time that at least one is arranged along the side wall
Sensor, the time-of-flight sensor receive external optical signal by a transparent window.
Optionally, the detection module further includes processor, is connected at least one described time-of-flight sensor, is used for
The sensing data of at least one time-of-flight sensor is handled, and at least one described time-of-flight sensor
It is controlled.
Optionally, the processor is also used to make to keep clock synchronous between each time-of-flight sensor.
Optionally, the detection module includes more than two time-of-flight sensors along side wall setting.
Optionally, each time-of-flight sensor is all set in sustained height.
Optionally, the time-of-flight sensor is distributed in multiple height.
Optionally, the sensing visual angle of single time-of-flight sensor is 100 °~150 °.
Optionally, the time-of-flight sensor is less than 5cm at a distance from housing bottom.
A specific embodiment of the invention also provides a kind of disorder detection method of sweeping robot, including：Described in acquisition
The sensing data of at least one time-of-flight sensor；Ambient enviroment image is obtained according to the sensing data；According to ring around
Object distance and elevation information in the image of border, judge whether it is barrier.
Optionally, the sweeping robot includes more than two time-of-flight sensors；It is obtained according to the sensing data
The method for taking obstructions chart picture further comprises：According to the sensing data of each time-of-flight sensor, obtain more than two
The initial environment image of different location；The ambient image of described two above different perspectivess is combined, one group of cyclization is obtained
The visual angle of border image, the combination ambient image is greater than any initial environment image.
Optionally, further comprise according to the method that the sensing data obtains obstructions chart picture：Each by acquisition flies
The initial sensing data of row timer is combined and calculates, and obtains the combination sensing data of ambient enviroment；Further according to institute
It states combination sensing data and forms combination ambient image.
Optionally, keep clock synchronous between each time-of-flight sensor of the sweeping robot.
Optionally, whether judgment object is that the method for barrier includes：By the distance of object compared with first threshold, when small
When the first threshold, by the height of the object compared with second threshold, when being greater than the second threshold, the object is judged
Body is barrier.
Sweeping robot of the invention, which has, to be set in shell, at least one flight time along housing sidewall setting passes
Sensor detects barrier.Since time-of-flight sensor is on-mechanical structure, high reliablity；And it is closely located to sweep the floor
The bottom of robot can obtain the ambient image closer at ground location.Also, it is passed by more than two flight time
Sensor can obtain bigger visual angle and detect the ambient image in height, to improve sweeping robot to ambient enviroment
Detection range.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the sweeping robot of the embodiment of the invention；
Fig. 2 is the structural schematic diagram of the sweeping robot of the embodiment of the invention；
Fig. 3 is the structural schematic diagram of the sweeping robot of the embodiment of the invention；
Fig. 4 is the structural schematic diagram of the detection module of the sweeping robot of the embodiment of the invention；
Fig. 5 is the flow diagram of the disorder detection method of the sweeping robot of the embodiment of the invention.
Specific embodiment
The specific embodiment of sweeping robot provided by the invention and disorder detection method is done in detail with reference to the accompanying drawing
It describes in detail bright.
Fig. 1 and Fig. 2 are please referred to, is the structural schematic diagram of the sweeping robot of the embodiment of the invention.
The sweeping robot includes shell 100, and the shell has side wall 101 and top cover 102；Detection module, setting
In in the side wall 101 of the shell 100, the detection module includes the flight time sensing that at least one is arranged along the side wall
Device 201, the time-of-flight sensor 201 receive external optical signal by a transparent window.
The time-of-flight sensor 201 includes a pixel sensor array, for receiving optical signal.Therefore, the flight
The sensor array of timer 201 is arranged towards the transparent window.The time-of-flight sensor 201 can also pass through lens
Or the adjustment such as light source diffusion plate sense visual angle.
In the specific embodiment, the detection module includes two time-of-flight sensors 201, is set to the same of side wall
In one height.The sensing visual angle of the time-of-flight sensor 201 is α, and the usual sensing visual angle α is less than 180 °, for example,
100 °~150 °.Using single time-of-flight sensor 201,201 front side of time-of-flight sensor can only be obtained
Sensing data within the scope of the α of visual angle, field range are limited.In the specific embodiment, the detection module includes two flights
Timer 201 is set in half of the side circumference range of sweeping robot, towards different directions, can pass through two
A time-of-flight sensor 201 realizes 180 ° of sensing visual angle.In a specific embodiment, the time-of-flight sensor
201 visual angle is 120 °.At the position close to sweeping robot side wall 101, although can have one is located at flight time biography
Blind area 203 outside 201 field range of sensor, but pass through the operation such as the change of sweeping robot position and rotation, the flight
The detection range of timer 201 can also cover the blind area 203.
In other specific embodiments, the detection module further includes three or more time-of-flight sensors 201, edge
The side wall setting, further expansion detect visual angle.
Referring to FIG. 3, the structural schematic diagram of the sweeping robot for another specific embodiment of the present invention.
In the concrete mode, the detection module of the sweeping robot includes four time-of-flight sensors 201, along described
Side wall 101 is arranged.Four time-of-flight sensors 201 are uniformly distributed, so that entirely sensing visual angle is realized around sweeping robot
The detection at 360 ° of visual angles.
Since the flight sensor 201 is set to the inside sidewalls of the sweeping robot, apart from sweeping robot
Distance from bottom is smaller, therefore compared with it will test component and be set at the top of sweeping robot, can obtain closer to ground location
The ambient image at place.In a specific embodiment, distance of the flight sensor 201 apart from sweeping robot bottom is small
In 5cm.Also, since the flight sensor 201 is chip structure, mechanical structure is not used, in the collision of sweeping robot
In the process, it is also difficult to it is damaged, high reliablity.
In this specific embodiment, described two flight sensors 201 are all set on sustained height, therefore, two
The detectable altitude range of flight sensor 201 is consistent.It is described two to fly in other specific embodiments of the invention
Line sensor 201 can also be distributed in different height, and the detection height of two flight sensors 201 is different, so that finally
The ambient image of acquisition has bigger altitude range.
Referring to FIG. 4, the structural schematic diagram of the detection module 200 for the embodiment of the invention.
The detection module 200 includes processor 202 and time-of-flight sensor 201.
In the specific embodiment, the processor 202 connects two time-of-flight sensors 201 simultaneously, for simultaneously
Obtain the sensing data of two time-of-flight sensors 201.
In order to enable the sensing data that the another two time-of-flight sensor 201 obtains can synchronize, the processor
202 are also used to make to keep clock synchronous between described two time-of-flight sensors 201, avoid two time-of-flight sensors
Having time is poor between the sensing data obtained between 201, can not obtain accurate ambient image.
In a specific embodiment, the detection module 200 may include three or more time-of-flight sensors 201,
The processor 202 is all connected with all time-of-flight sensors 201, to control all time-of-flight sensors simultaneously
201, obtain the sensing data of each time-of-flight sensor 201.
The sensing data of each time-of-flight sensor 201 passes through the calculating and processing of the processor 202, can be with shape
At a corresponding initial environment image；The initial environment image that different time-of-flight sensors 201 are formed has different views
Angle；The processor 202 spliced the initial environment image of different perspectives, merging treatment, can form final combination
Ambient image.In another specific embodiment, the processor 202 can also be first by each time-of-flight sensor of acquisition
201 initial sensing data is combined and calculates, and obtains the combination sensing data of environment, passes according further to the combination
Feel data and forms combination ambient image.
The processor 202 is also used to judge the barrier in environment according to combination sensing data.When due to each flight
Between sensor 201 clock it is synchronous, what each each time-of-flight sensor 201 obtained is the environment map of synchronization
Picture, there is no the time differences, so as to ensure the accuracy of finally formed combination ambient image.The processor 202
It is improved according to the accuracy of the combination ambient image disturbance in judgement object.
The sweeping robot of above-mentioned specific embodiment, which has, to be set in shell, along at least one of housing sidewall setting
Time-of-flight sensor detects barrier.Since time-of-flight sensor is on-mechanical structure, high reliablity；And position
The bottom close to sweeping robot is set, the ambient image closer at ground location can be obtained.Also, by more than two
Time-of-flight sensor can obtain bigger visual angle and detect the ambient image in height, to improve sweeping robot pair
The detection range of ambient enviroment.
A specific embodiment of the invention also provides a kind of disorder detection method of sweeping robot.
Referring to FIG. 5, the flow diagram of the disorder detection method for the sweeping robot.
The disorder detection method includes step S51~S3.
Step S51：Obtain the sensing data of at least one time-of-flight sensor.
The sweeping robot is as described in previous embodiment, and details are not described herein.By being set to sweeper
The time-of-flight sensor of device people obtains the sensing data of surrounding.In the case where individually using single time-of-flight sensor, only
The sensing data on front side of time-of-flight sensor within the scope of the α of visual angle can be obtained, field range is limited.By being set to different location
More than two time-of-flight sensors at place, the available bigger sensing data sensed in angular field of view.
Also, by the time-of-flight sensor being arranged in different height, the biography within the scope of more big height can also be obtained
Feel data.
Since time-of-flight sensor can be located at apart from the closer position in time-of-flight sensor bottom, can obtain
The sensing data closer at ground location is obtained, with being conducive to the detection to a lower height of barrier.
Step S52：Ambient enviroment image is obtained according to the sensing data.
In a specific embodiment, the method for acquisition ambient enviroment image includes：It is sensed according to each flight time
The sensing data of device obtains the initial environment image of more than two different locations；By the ring of described two above different perspectivess
Border image carries out splicing and combining processing, obtains final combination ambient image.Since the acquisition of different time-of-flight sensors is not
With the ambient image in visual angle, therefore the visual angle of the combination ambient image finally obtained is greater than any initial environment image.
In another specific embodiment, the method for obtaining ambient enviroment image includes：When first by each flight of acquisition
Between the initial sensing data of sensor be combined and calculate, obtain the combination sensing data of ambient enviroment；According further to
The combination sensing data forms combination ambient image.
Keep clock synchronous between each time-of-flight sensor of the sweeping robot, each time-of-flight sensor
201 obtain be synchronization sensing data, there is no the time differences, so as to ensure finally formed combination environment
The accuracy of image.
Step S53：According to the object distance and elevation information in ambient enviroment image, barrier is judged whether it is.
The range information that each object in ambient enviroment image can be obtained by the time-of-flight sensor, judges object
Whether body is that the method for barrier includes：By the distance of object compared with first threshold, when being less than the first threshold, by institute
The height of object is stated compared with second threshold, when being greater than the second threshold, judges the object for barrier.
The distance of only object is close enough, and height is sufficiently high, can just be judged as barrier, and sweeping robot needs
It avoids.And if the distance of object is close enough, but insufficient height, can not cause to stop to sweeping robot.
Sweeping robot during the work time, judges that adjustment movement routine is kept away according to the object in ambient enviroment image
Open barrier.
Above-mentioned obstacle detection method, can be to wider by the sensing data of the multiple time-of-flight sensors of acquisition
Interior environment carries out detection of obstacles, especially for the barrier of height lower, to improve the accurate of detection of obstacles
Property.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (11)
1. a kind of sweeping robot, which is characterized in that including：
Shell, the shell have side wall；
Detection module is set in the shell, when the detection module includes the flight that at least one is arranged along the side wall
Between sensor, the time-of-flight sensor by a transparent window receive external optical signal.
2. sweeping robot according to claim 1, which is characterized in that the detection module further includes processor, connection
To at least one described time-of-flight sensor, at the sensing data at least one time-of-flight sensor
Reason, and at least one described time-of-flight sensor is controlled.
3. sweeping robot according to claim 2, which is characterized in that the processor is also used to make each flight time
Keep clock synchronous between sensor.
4. sweeping robot according to claim 1, which is characterized in that the detection module includes two or more along described
The time-of-flight sensor of side wall setting；Each time-of-flight sensor is all set in sustained height or is distributed in multiple height.
5. sweeping robot according to claim 1, which is characterized in that the sensing visual angle of single time-of-flight sensor is
100 °~150 °.
6. sweeping robot according to claim 1, which is characterized in that the time-of-flight sensor and housing bottom
Distance is less than 5cm.
7. a kind of disorder detection method of sweeping robot, the sweeping robot as described in any one of claims 1 to 6,
It is characterised in that it includes：
Obtain the sensing data of at least one time-of-flight sensor；
Ambient enviroment image is obtained according to the sensing data；
According to the object distance and elevation information in ambient enviroment image, barrier is judged whether it is.
8. the disorder detection method of sweeping robot according to claim 7, which is characterized in that the sweeping robot packet
Include more than two time-of-flight sensors；Further comprise according to the method that the sensing data obtains obstructions chart picture：Root
According to the sensing data of each time-of-flight sensor, the initial environment image of more than two different locations is obtained；By described two
The ambient image of a above different perspectives is combined, and obtains a combination ambient image, and the visual angle of the combination ambient image is big
In any initial environment image.
9. the disorder detection method of sweeping robot according to claim 7, which is characterized in that according to the sensing data
Obtain obstructions chart picture method further comprise：The initial sensing data of each time-of-flight sensor of acquisition is subjected to group
It closes and calculates, obtain the combination sensing data of ambient enviroment；Combination ambient image is formed further according to the combination sensing data.
10. the disorder detection method of sweeping robot according to claim 8 or claim 9, which is characterized in that the machine of sweeping the floor
Keep clock synchronous between each time-of-flight sensor of people.
11. the disorder detection method of sweeping robot according to claim 7, which is characterized in that judgment object whether be
The method of barrier includes：By the distance of object compared with first threshold, when being less than the first threshold, by the object
Height, when being greater than the second threshold, judges the object for barrier compared with second threshold.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810958347.5A CN108814452A (en) | 2018-08-22 | 2018-08-22 | Sweeping robot and its disorder detection method |
| PCT/CN2019/095962 WO2020038155A1 (en) | 2018-08-22 | 2019-07-15 | Autonomous movement device, control method and storage medium |
| EP19852597.4A EP3842885A4 (en) | 2018-08-22 | 2019-07-15 | Autonomous movement device, control method and storage medium |
| US16/542,218 US20200064481A1 (en) | 2018-08-22 | 2019-08-15 | Autonomous mobile device, control method and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810958347.5A CN108814452A (en) | 2018-08-22 | 2018-08-22 | Sweeping robot and its disorder detection method |
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| Publication Number | Publication Date |
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| CN108814452A true CN108814452A (en) | 2018-11-16 |
Family
ID=64151393
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810958347.5A Pending CN108814452A (en) | 2018-08-22 | 2018-08-22 | Sweeping robot and its disorder detection method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110013195A (en) * | 2019-03-26 | 2019-07-16 | 深圳市伽利略机器人有限公司 | A kind of front structure of intelligent sweeping machine |
| CN112773261A (en) * | 2019-11-04 | 2021-05-11 | 美智纵横科技有限责任公司 | Method and device for avoiding obstacles and sweeping robot |
| CN112835347A (en) * | 2019-11-04 | 2021-05-25 | 美智纵横科技有限责任公司 | Method and device for avoiding obstacles and sweeping robot |
| CN112835345A (en) * | 2019-11-04 | 2021-05-25 | 美智纵横科技有限责任公司 | Detection result verification method and device and sweeping robot |
| CN114903375A (en) * | 2022-05-13 | 2022-08-16 | 美智纵横科技有限责任公司 | Obstacle positioning method and device and sports equipment |
| WO2023213172A1 (en) * | 2022-05-06 | 2023-11-09 | 追觅创新科技(苏州)有限公司 | Control method for self-moving device, and device and storage medium |
| WO2024008125A1 (en) * | 2022-07-06 | 2024-01-11 | 科沃斯机器人股份有限公司 | Self-moving cleaning robot |
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