CN102092048A - Control method and cleaning robot device - Google Patents
Control method and cleaning robot device Download PDFInfo
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- CN102092048A CN102092048A CN2009102590055A CN200910259005A CN102092048A CN 102092048 A CN102092048 A CN 102092048A CN 2009102590055 A CN2009102590055 A CN 2009102590055A CN 200910259005 A CN200910259005 A CN 200910259005A CN 102092048 A CN102092048 A CN 102092048A
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Abstract
The invention discloses a control method and a cleaning robot device. The control method is suitable for the cleaning robot device to walk in a sealed space and comprises the following steps: instructing the cleaning robot to find one boundary of the sealed space; instructing the cleaning robot to walk along the boundary, wherein the path for the robot to walk along the boundary is a first walking path; recording the first walking path; and controlling the walking path of the cleaning robot according to the recorded result, wherein according to the recorded result, the path along which the cleaning robot walks is a second walking path which does not overlap the first walking path.
Description
Technical field
The present invention relates to a kind of control method, particularly relate to a kind of control method of sweeping robot device.
Background technology
Along with the progress of science and technology, the kind of electronic product is also more and more many.The appearance of sweeping robot can be saved the time of many cleanings.Because having, automatically moves and function that navigation detects sweeping robot, so purging zone automatically.Yet existing sweeping robot is to finish the cleaning task in the mode of random walk.So clean mode, not only consuming time and efficient is not high.
Summary of the invention
The invention provides a kind of control mode, be applicable to that a sweeping robot device walks in an enclosure space.Control mode of the present invention comprises, makes this sweeping robot seek a border of this enclosure space; Make this sweeping robot along this border walking, this sweeping robot is one first walking path along the path of this border walking; Write down this first walking path; And, control the path of this sweeping robot walking according to the result of record, wherein, according to the result of record, the path that this sweeping robot is walked is one second walking path, this second walking path this first walking path that do not overlap.
The present invention also provides a kind of sweeping robot device, in order to clean an enclosure space, comprises at least one roller, a detecting unit and a control module.Control module is controlled the rotation direction of roller according to the testing result of detecting unit.Control module makes roller rotate, and makes detection module detect a border of enclosure space.Control module makes roller rotate along the border.The path that roller rotates along the border is one first walking path.Control module writes down first walking path, and according to the result who writes down, makes roller rotate along one second walking path.Second walking path, first walking path that do not overlap.
For the features and advantages of the present invention can be become apparent, cited below particularlyly go out preferred embodiment, and be described with reference to the accompanying drawings as follows.
Description of drawings
Fig. 1 is that one of control method of the present invention may flow chart.
Fig. 2 A is the possibility embodiment that sweeping robot is sought the border.
Fig. 2 B～Fig. 2 D is the possible embodiment that sweeping robot is sought the border.
Fig. 3 A～Fig. 3 B is the possible embodiment that sweeping robot is sought the border.
Fig. 4, Fig. 5 A and Fig. 5 B are the possibility embodiment that sweeping robot is sought the border.
Fig. 6 is the structural representation of sweeping robot of the present invention.
The reference numeral explanation
200,300,400,500: enclosure space;
210,310,410: starting point;
230,330,430,530: the border;
211～217,311,411: seek the path;
250,511,513,515: barrier;
350,370,390,450,470,550,570: walking path;
600: sweeping robot;
610: roller;
630: detecting unit;
650: control module.
The specific embodiment
Fig. 1 is that one of control method of the present invention may flow chart.Control method of the present invention walks it in order to control a sweeping robot in an enclosure space, and cleans the path of walking.
At first, make this sweeping robot seek a border (step S110) of this enclosure space.The present invention does not limit the walking manner that sweeping robot is sought the border.In other embodiments, sweeping robot can utilize many walking manners, seeks the border of enclosure space.
Fig. 2 A is the possibility embodiment that sweeping robot is sought the border.In Fig. 2 A, sweeping robot is in the straight line moving mode, seeks the border.As shown in the figure, sweeping robot in the straight line moving mode, is sought the border 230 of enclosure space 200 by starting point 210 beginnings.The path of being walked when sweeping robot is sought border 230 is called one and seeks path 211.
Fig. 2 B is another possibility embodiment that sweeping robot is sought the border.In Fig. 2 B, sweeping robot is with the spiral walking manner, seeks the border.As shown in the figure, sweeping robot is the center of circle to open initial point 210, and is by opening initial point 210 beginnings, spiral-shaped around starting point 210, up to searching out border 230 with one from inside to outside.The path of being walked when sweeping robot is sought border 230 is called seeks path 212.In the present embodiment, seeking path 212 is a square spiral.
In addition, when seeking the border,, then make sweeping robot cut-through thing, continue to seek the border if meet a barrier.Fig. 2 C is another possibility embodiment that sweeping robot is sought the border.As shown in the figure, sweeping robot is with starting point 210 beginnings, and with the linear fashion walking, after running into barrier 250, sweeping robot cut-through thing 213 continues to seek border 230 with linear fashion.
The present invention does not limit the mode of sweeping robot cut-through thing 213.In a possibility embodiment, when sweeping robot runs into barrier 213, can search out border 230 according to a paths of seeking path 213～216.
Fig. 2 D is another possibility embodiment that sweeping robot is sought the border.As shown in the figure, sweeping robot is walked in a spiral manner with starting point 210 beginnings, and after running into barrier 250, sweeping robot cut-through thing 213 continues to seek border 230 with linear fashion.
In the present embodiment, when sweeping robot runs into barrier 250, continue walking in a spiral manner.Therefore, in Fig. 2 D, the searching path 217 of sweeping robot surrounds barrier 250.In other embodiments, when sweeping robot ran into barrier 250, sweeping robot can change with linear fashion or alternate manner walking.
After searching out the border of enclosure space, make sweeping robot along border walking (step S130).In the present embodiment, sweeping robot is called one first walking path along the path of border walking.Fig. 3 A is that one of sweeping robot may walking path.In the present embodiment, sweeping robot is from starting point 310, and with the linear fashion walking, after searching out border 330,330 walk along the border.The path that sweeping robot is sought border 330 is called searching path 311.The path of sweeping robot 330 walkings along the border is called walking path 350.
The path (step S150) that the record sweeping robot is walked.With Fig. 3 A is example, and in a possibility embodiment, path 311 and walking path 350 sought in record.In another possibility embodiment, only write down walking path 350.Since the path that the record sweeping robot is walked, the unbeaten zone of sweeping robot can clearly be learnt, and then improve sweeping efficiency.
According to the result of record, the path (step S170) of control sweeping robot walking.In the present embodiment, according to the result of record, the path that sweeping robot is walked is one second walking path, and second walking path, first walking path that do not overlap.Therefore, can finish cleaning effectively, and coverage rate can reach 100%.
With Fig. 3 B is example, after sweeping robot is walked along border 330, can obtain walking path 350.Sweeping robot as a virtual boundary, and is walked walking path 350 along this virtual boundary.The path that sweeping robot is walked along this virtual boundary is a walking path 370.In the present embodiment, walking path 350 and 370 does not overlap mutually.
In another may embodiment, sweeping robot as a new virtual boundary, and was walked walking path 370 along new virtual boundary (walking path 370).The path that sweeping robot is walked along new virtual boundary is a walking path 390.Therefore, sweeping robot just can be finished cleaning efficiently.
In the present embodiment, has a particular kind of relationship between the walking path 350,370 and 390.For example, walking path 350,370 and 390 shape are similar each other.The length of walking path 350 is greater than the length of walking path 370.The length of walking path 370 is greater than the length of walking path 390.In addition, the distance between the walking path 350 and 370 remains on a fixed value d
1, the distance between the walking path 370 and 390 also remains on fixed value d
1
Fig. 4 is that one of sweeping robot of the present invention may walking path.In the present embodiment, the sweeping robot path of walking does not overlap mutually.As shown in the figure, sweeping robot is from starting point 410, and with the linear fashion walking, in order to seek the border 430 of enclosure space 400, wherein the path on sweeping robot searching border 430 is called searching path 411.
After searching out border 430, sweeping robot is 430 walkings along the border, and wherein the path of sweeping robot 430 walkings along the border is called walking path 450.Then, sweeping robot as a virtual boundary, is walked walking path 450 again along this virtual boundary (walking path 450 at once).
At this moment, the sweeping robot path of walking is walking path 470 (second path).In the present embodiment, walking path 470 does not overlap and seeks path 411.In addition, in the present embodiment, the length of walking path 470 may be greater than the length of walking path 450.
Fig. 5 is another possibility walking path of sweeping robot of the present invention.As shown in the figure, the circumstance complication degree in the enclosure space 500 is higher, and has barrier 511,513,515.After sweeping robot follows away path 550 and 570 walkings, still can have partly zone do not walk as yet (shown in Fig. 5 B oblique line).
Because sweeping robot can write down the path of once walking, so sweeping robot can clean (shown in the arrow of Fig. 5 B) at the size in the zone of not walking again.At last, confirm not had the zone of not walking via algorithm after, sweeping robot just can stop sweeper mode automatically.
Fig. 6 is the structural representation of sweeping robot of the present invention.As shown in the figure, sweeping robot 600 comprises at least, roller 610, detecting unit 630 and control module 650.When roller 610 rotates, just removable sweeping robot 600.Control module 650 is controlled the rotation direction of roller 610 according to the testing result of detecting unit 630.
In the present embodiment, control module 650 makes roller 610 rotate, and makes detecting unit 630 can detect the border of an enclosure space.The present invention does not limit the method for detecting unit 630 detection boundaries.In a possibility embodiment, detecting unit 630 can send a lightwave signal or an acoustic signals, then according to a reflected signal, judges the position on border.
When detecting unit 630 received the signal that reflects on the border, control module 650 control rollers 610 made roller 610 turn to the border.In the present embodiment, roller 610 path that turns to the border is called one and seeks the path.The present invention does not limit the shape in this searching path.In a possibility embodiment, seeking the path is a straight line, a helical form or a square spiral.
When detecting unit 630 detected a barrier, then control module 650 made roller 610 cut-through things, makes detecting unit 630 can continue to seek the border.When roller 610 turned to the border, control module 650 control rollers 610 made roller 610 rotate along the border.In the present embodiment, roller 610 is defined as one first walking path along the path of border rotation.
In another may embodiment, the shape that the shape of first walking path can similar second walking path (shown in Fig. 3 B 350 and 370).In other embodiments, the length of first walking path is the length greater than second walking path.
In the present embodiment, control module 650 as one first virtual boundary, and makes roller 610 rotate along first virtual boundary first walking path, and wherein roller 610 path of rotating along first virtual boundary is as one second walking path.
In another may embodiment, control module 650 records second walking path, and with second walking path as one second virtual boundary.Control module 650 makes roller 610 rotate along second virtual boundary.The path that roller 610 rotates along second virtual boundary is that a third line is walked the path.
In a possibility embodiment, the third line is walked the length that is shorter in length than second walking path in path.In other embodiments, the similar the third line of the shape of second walking path is walked the shape in path.In addition, the distance between first and second walking path can equal the distance between second and third walking path.
Because control module 650 can write down the path that sweeping robot 600 is walked, thus the overlapping of walking path can be avoided, and can effectively finish cleaning works.
Though the present invention discloses as above with preferred embodiment; right its is not in order to limit the present invention; those skilled in the art can do some changes and retouching under the premise without departing from the spirit and scope of the present invention, so protection scope of the present invention is as the criterion with claim of the present invention.
Claims (32)
1. control method is applicable to that a sweeping robot walks in an enclosure space, this control method comprises the following steps:
Make this sweeping robot seek a border of this enclosure space;
Make this sweeping robot along this border walking, this sweeping robot is one first walking path along the path of this border walking;
Write down this first walking path; And
According to the result of record, control the path of this sweeping robot walking, wherein, according to the result of record, the path that this sweeping robot is walked is one second walking path, this second walking path this first walking path that do not overlap.
2. control method as claimed in claim 1, the wherein shape of similar this second walking path of the shape of this first walking path.
3. control method as claimed in claim 1, wherein the length of this first walking path is greater than the length of this second walking path.
4. control method as claimed in claim 1, wherein the distance between this first and second walking path remains on a fixed value.
5. control method as claimed in claim 1 also comprises:
With this first walking path as one first virtual boundary; And
Make this sweeping robot along the walking of this first virtual boundary, wherein this sweeping robot path of walking along this first virtual boundary is as this second walking path.
6. control method as claimed in claim 5 also comprises:
Write down this second walking path;
With this second walking path as one second virtual boundary; And
Make this sweeping robot along the walking of this second virtual boundary, wherein the path is walked as a third line in this sweeping robot path of walking along this second virtual boundary.
7. control method as claimed in claim 6, wherein this third line is walked the length that is shorter in length than this second walking path in path.
8. control method as claimed in claim 6, wherein similar this third line of the shape of this second walking path is walked the shape in path.
9. control method as claimed in claim 6, wherein the distance between this first and second walking path remains on a fixed value.
10. control method as claimed in claim 9, wherein the distance between this second and third walking path remains on this fixed value.
11. control method as claimed in claim 1, the path of being walked when wherein this sweeping robot is sought this border are one to seek the path, this second walking path this searching path that do not overlap.
12. control method as claimed in claim 11, wherein the length of this second walking path is greater than the length of this first walking path.
13. control method as claimed in claim 1, wherein this sweeping robot is in a walking mode, seeks this border.
14. control method as claimed in claim 13, wherein this walking manner is that to open initial point with one be the center of circle, opens initial point by this and begins, and spiral-shapedly opens initial point around this with one from inside to outside, up to searching out this border.
15. control method as claimed in claim 14, wherein this spiral-shaped be one square.
16. control method as claimed in claim 1 also comprises:
When seeking this border, if meet a barrier, then make this sweeping robot walk around this barrier, continue to seek this border.
17. a sweeping robot device in order to clean an enclosure space, comprising:
At least one roller;
One detecting unit; And
One control module according to the testing result of this detecting unit, is controlled the rotation direction of this roller, and wherein this control module makes this roller rotate, and makes this survey module detect a border of this enclosure space; This control module makes this roller rotate along this border, the path that this roller rotates along this border is one first walking path, this control module writes down this first walking path, and according to the result who writes down, make this roller rotate, this second walking path this first walking path that do not overlap along one second walking path.
18. sweeping robot device as claimed in claim 17, the wherein shape of similar this second walking path of the shape of this first walking path.
19. sweeping robot device as claimed in claim 17, wherein the length of this first walking path is greater than the length of this second walking path.
20. sweeping robot device as claimed in claim 17, wherein the distance between this first and second walking path remains on a fixed value.
21. sweeping robot device as claimed in claim 17, wherein this control module with this first walking path as one first virtual boundary, and make this roller rotate along this first virtual boundary, wherein this roller path of rotating along this first virtual boundary is as this second walking path.
22. sweeping robot device as claimed in claim 21, wherein this control module writes down this second walking path, and with this second walking path as one second virtual boundary, this control module makes this roller rotate along this second virtual boundary, and the path that this roller rotates along this second virtual boundary is that a third line is walked the path.
23. sweeping robot device as claimed in claim 22, wherein this third line is walked the length that is shorter in length than this second walking path in path.
24. sweeping robot device as claimed in claim 22, wherein similar this third line of the shape of this second walking path is walked the shape in path.
25. sweeping robot device as claimed in claim 22, wherein the distance between this first and second walking path remains on a fixed value.
26. sweeping robot device as claimed in claim 25, wherein the distance between this second and third walking path remains on this fixed value.
27. sweeping robot device as claimed in claim 17, wherein to turn to the path on this border be one to seek the path to this roller, this second walking path this searching path that do not overlap.
28. sweeping robot device as claimed in claim 27, wherein the length of this second walking path is greater than the length of this first walking path.
29. sweeping robot device as claimed in claim 27, wherein this searching path is a straight line.
30. sweeping robot device as claimed in claim 27, wherein this searching path is one spiral-shaped.
31. sweeping robot device as claimed in claim 30, wherein this spiral-shaped be one square.
32. sweeping robot device as claimed in claim 17, wherein when this detecting unit detected a barrier, then this control module made this roller walk around this barrier, made this detecting unit continue to seek this border.
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| CN2009102590055A CN102092048A (en) | 2009-12-09 | 2009-12-09 | Control method and cleaning robot device |
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| CN2009102590055A CN102092048A (en) | 2009-12-09 | 2009-12-09 | Control method and cleaning robot device |
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| WO2013185622A1 (en) * | 2012-06-13 | 2013-12-19 | 苏州宝时得电动工具有限公司 | Automatic work system and control method thereof |
| CN103705178A (en) * | 2012-10-09 | 2014-04-09 | 三星电子株式会社 | Robot cleaner and control method thereof |
| CN104737085A (en) * | 2012-09-24 | 2015-06-24 | 罗巴特公司 | Robot and method for autonomous inspection or processing of floor areas |
| CN105739505A (en) * | 2016-04-13 | 2016-07-06 | 上海物景智能科技有限公司 | Path control method and system for robot |
| WO2016110097A1 (en) * | 2015-01-08 | 2016-07-14 | 江苏美的清洁电器股份有限公司 | Walk control method of robot, and robot |
| CN106292654A (en) * | 2015-06-03 | 2017-01-04 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus of drawing area map |
| CN108143364A (en) * | 2017-12-28 | 2018-06-12 | 湖南格兰博智能科技有限责任公司 | A kind of method for cleaning map area division from mobile clean robot |
| WO2019201188A1 (en) * | 2018-04-15 | 2019-10-24 | 张舒怡 | Path planning for robot |
| CN110456789A (en) * | 2019-07-23 | 2019-11-15 | 中国矿业大学 | A kind of complete coverage path planning method of clean robot |
| CN110786783A (en) * | 2018-08-01 | 2020-02-14 | 速感科技（北京）有限公司 | Cleaning method of cleaning robot and cleaning robot |
| CN111531536A (en) * | 2020-05-06 | 2020-08-14 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, electronic device, and readable storage medium |
| US10875557B2 (en) | 2016-03-31 | 2020-12-29 | Siemens Mobility GmbH | Method and system for detecting obstacles in a hazardous area in front of a rail vehicle |
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| US10875557B2 (en) | 2016-03-31 | 2020-12-29 | Siemens Mobility GmbH | Method and system for detecting obstacles in a hazardous area in front of a rail vehicle |
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| CN108143364A (en) * | 2017-12-28 | 2018-06-12 | 湖南格兰博智能科技有限责任公司 | A kind of method for cleaning map area division from mobile clean robot |
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| CN110786783A (en) * | 2018-08-01 | 2020-02-14 | 速感科技（北京）有限公司 | Cleaning method of cleaning robot and cleaning robot |
| CN110786783B (en) * | 2018-08-01 | 2022-03-15 | 速感科技（北京）有限公司 | Cleaning method of cleaning robot and cleaning robot |
| CN110456789A (en) * | 2019-07-23 | 2019-11-15 | 中国矿业大学 | A kind of complete coverage path planning method of clean robot |
| CN111531536A (en) * | 2020-05-06 | 2020-08-14 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, electronic device, and readable storage medium |
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Application publication date: 20110615 |