CN102541056A - Obstacle processing method for robot - Google Patents
Obstacle processing method for robot Download PDFInfo
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- CN102541056A CN102541056A CN2010105903321A CN201010590332A CN102541056A CN 102541056 A CN102541056 A CN 102541056A CN 2010105903321 A CN2010105903321 A CN 2010105903321A CN 201010590332 A CN201010590332 A CN 201010590332A CN 102541056 A CN102541056 A CN 102541056A
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Abstract
The invention discloses an obstacle processing method for a robot. The robot performs X-axis or Y-axis scanning cleaning in a cleaning area for the first time, and records a non-cleaned area behind an obstacle; after finishing performing the X-axis or Y-axis scanning cleaning for the first time, the robot returns to the non-cleaned area behind the obstacle, and performs X-axis or Y-axis scanning cleaning for the second time; and the robot records X-axis coordinates and Y-axis coordinates when touching the obstacle and detecting that the obstacle disappears to adjust a walking route. According to the obstacle processing method, the number of walking routes is small during identification of obstacles; the obstacles can be judged accurately; and an effect of automatically cleaning by a dust remover is achieved.
Description
Technical field
The present invention relates to a kind of barrier disposal route of robot.
Background technology
In the prior art, robot for example PCT application international publication number is that the patented claim of WO0038025 is at first along the outward flange walking on ground, avoids during walking along the barrier on its path, round and round from outer inwardly cleaning.This method can't be handled for the plural independent barrier (or claiming isolated island) of room central authorities, therefore can cause the omission of purging zone or repeat cleaning.And U.S. Pat 5440216 is to have suction cleaner to walk along the edge, outside a week earlier for the recognition methods of the cleanable area in the room; Obtain outer peripheral profile; Immediate with it a kind of cleaning layout pattern is selected by computer in the exemplary configurations of storing in this profile and the computer back of comparing; Control suction cleaner work, but detecting head then can do to evade processing when detecting the isolated island of room central authorities, still can cause the subregion drain sweep.
Summary of the invention
The present invention seeks to: provide a kind of sweeping efficiency high and effectively utilize the barrier disposal route of the robot of battery.
A technical scheme of the present invention is: a kind of barrier disposal route of robot; It is characterized in that: said robot is in purging zone; Carry out X axle or the Y axle scanning cleaning first time; And record barrier rear purging zone not, after accomplishing for the first time X axle or Y axle scanning cleaning, return not purging zone of barrier rear, carry out again second time the X axle or the scanning of Y axle clean.
Preferably; Said robot adopts X axle or Y axle pectination cleaning modes; When running into barrier, the record a plurality of borders XY axial coordinate relevant with barrier then is when robot cleans when finishing along X axle or Y axle pectination; Said robot turns back on the border XY axial coordinate that is write down and continues to adopt the X axle or zone, Y axle pectination cleaning modes cleaning barrier behind, and this coordinate is defined as and returns coordinate.
Preferably; Said robot comprises at least and is positioned at both sides and is used for the side sensor of detecting obstacles thing and is positioned at the place ahead and is used for the upfront sensor of detecting obstacles thing; When the signal value of robot side sensor in X axle or Y axle single stroke had twice variation at least, this coordinate was and returns coordinate.
Preferably, further comprise the steps:
S1: when robot to walk along Y-axis or X-axis mode; When detecting the place ahead the feedback signal of object arranged; The distance of being walked before the distance of this walking and last time detected is compared and is shortened; Then robot should judge that objects in front is a barrier; And note first XY axial coordinate; Robot continued to press the cleaning of XY axle pectination cleaning method before detecting the barrier disappearance then;
S2: when robot ambulation to the second, detect barrier and disappear, the distance that the distance of being walked is simultaneously walked greater than the last time collision is then noted second XY axial coordinate;
S3: robot continues to press XY axle pectination cleaning method to second clean away from barrier one regions; Up to being accomplished, remainder cleaning in room arrives thirdly; Second the XY axial coordinate that this moment, robot write down based on the front is advanced to second with linear fashion;
S4: robot from second point continue by XY axle pectination cleaning method to second near the cleaning of barrier one regions, when robot ambulation during through first X or Y axial coordinate, cleaning works is accomplished.
Preferably, said robot is defined as barrier with the wall of door both sides, room, and is defined as a room to a plurality of rooms in the process at least two rooms of cleaning.
Preferably, said XY axle pectination cleaning method is: robot advances with first direction, runs into barrier; Clockwise or be rotated counterclockwise 90 degree, and the displacement that squints, revolve again and turn 90 degrees; And advance with second direction, wherein first direction and second direction are opposite each other.
Preferably, among the said step S3, robot is from being straight line or the combination of XY axis to second course thirdly.
Another technical scheme of the present invention is: a kind of barrier disposal route of robot; It is characterized in that: said robot is in purging zone; Carry out X axle or the Y axle scanning cleaning first time; And record barrier rear purging zone not, again to the barrier rear not purging zone carry out X axle or Y axle scanning cleaning second time, continue for the first time X axle or the scanning of Y axle again and clean.
Preferably; Said robot adopts X axle or Y axle pectination cleaning modes, when running into barrier, then writes down a plurality of borders XY axial coordinate relevant with barrier; Wherein said robot turns back on the border XY axial coordinate that is write down; The cleaning barrier is regional behind earlier, and this coordinate is defined as and returns coordinate, and robot is again along X axle or Y axle pectination cleaning modes cleaning remaining area.
Preferably, it comprises the steps:
S1: when robot to walk along Y-axis or X-axis mode; When detecting the place ahead the feedback signal of object arranged; The distance of this walking and last time are detected the distance of being walked to be compared and shortens; Then robot should judge that objects in front is a barrier; And note first XY axial coordinate; Robot continued by X-axis or the cleaning of Y-axis pectination sweeper mode before detecting the barrier disappearance then;
S2: when robot ambulation to the second, the signal value of its side sensor has at least when changing for twice, and the distance that the distance of being walked is simultaneously walked greater than the last time collision is then noted second XY axial coordinate;
S3: robot continues to press XY axle pectination cleaning method and cleans to second close barrier one regions; Up to when robot ambulation through first X or Y-axis coordinate and when arriving thirdly; Second the XY axial coordinate that this moment, robot write down based on the front is advanced to second;
S4: robot from second point continue by X axle or Y axle pectination cleaning method to second away from the cleaning of barrier one regions, accomplish until cleaning works.
Preferably, the cleaning of X axle or Y axle scanning for the first time can be identical or opposite with the cleaning of X axle or Y axle scanning for the second time direction, also can be along disalignment to scanning cleaning.
Advantage of the present invention is:
The barrier disposal route of robot provided by the present invention can be avoided the subregion drain sweep, has improved the efficiency of dust collection of suction cleaner greatly, more effectively utilizes battery.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is further described:
Fig. 1 is the track route synoptic diagram in the algoritic module of border of the present invention;
Fig. 2 is the track route synoptic diagram under the situation in first kind of tupe of the present invention;
Fig. 3 is the track route synoptic diagram under another situation in first kind of tupe of the present invention;
Fig. 4 is the track route synoptic diagram in second kind of tupe of the present invention;
Fig. 5 is the track route synoptic diagram under the situation in the third tupe of the present invention;
Fig. 6 is the track route synoptic diagram under another situation in the third tupe of the present invention;
Fig. 7 is the track route synoptic diagram in the 4th kind of tupe of the present invention;
Fig. 8 is the track route synoptic diagram under the situation in the 5th kind of tupe of the present invention;
Fig. 9 is the track route synoptic diagram under another situation in the 5th kind of tupe of the present invention;
Figure 10 is the track route synoptic diagram under the another situation in the 5th kind of tupe of the present invention;
Figure 11 is the track route synoptic diagram under the situation again in the 5th kind of tupe of the present invention;
Figure 12 is the track route synoptic diagram in the 6th kind of tupe of the present invention;
Figure 13 is the track route synoptic diagram under the situation in the 7th kind of tupe of the present invention;
Figure 14 is the track route synoptic diagram under another situation in the 7th kind of tupe of the present invention.
Embodiment
Embodiment: with reference to figure 1-14, the present invention provides a kind of specific embodiment of robot obstacle substance treating method.At first select the people that starts the machine after the cleaning mode through the operation push-button on manipulation robot's fuselage or through remote controller, robot based on the difference of departure place, carries out partiting step to purging zone then from the base station or from other place except that the base station:
When robot during from the base station, advance when running into barrier for the first time, robot with the line of base station and this point of impingement as the separatrix; Purging zone is divided into left side and right side two parts, and begins cleaning, after the left side cleaning is accomplished from left field; Robot gets back to the right side rapidly with shortest path; And the cleaning on beginning right side, robot also can clean right side area earlier certainly, cleans left field again.
When robot from other place except that the base station, clockwise unconditional or be rotated counterclockwise 180 degree backs and advance in the other direction when running into barrier for the first time forward in the traveling process, up to collision for the second time takes place.For the second time after the collision, the robot line of the point of impingement and the point of impingement for the second time for the first time is divided into left side and right side two parts as the separatrix with purging zone; And from left field begin the cleaning; After the left side cleaning was accomplished, robot got back to the right side rapidly with shortest path, and the cleaning on beginning right side.
After purging zone was divided, robot carries out the path planning of purging zone: under known environment, robot generated map according to environmental information, and it is simple that its paths planning method is wanted; And in circumstances not known, robot then need utilize at least three sensors of oneself earlier, promptly is positioned at the upfront sensor in the place ahead; Be positioned at the side sensor of both sides, explore and cognitive environment, because the wall in room has only on one side; Its side sensor is when surveying wall, and there is not variation in its signal value, and barrier then can cause the variation of signal value; The appearance signal of barrier and the disappearance of signal of barrier are promptly arranged, generate map then, cook up the path at last; Thus with reference to figure 1, and carry out the algorithm of boundary module:
1) robot carries out the judgement of X-direction metope ab or cd earlier, and robot cleans from left and right separatrix earlier to the left, after each and ab of robot or cd metope bump; A displacement is moved in the capital to the left; And in the process that moves, the space that whether exists greater than the robot width is seen then in the situation of constantly monitoring metope by robot; As otherwise get into step 2, then get into step 3 in this way:
The metope cleaning of one displacement of 2) just having passed by is accomplished, and so adding up of displacement just accomplished the judgement on ab limit or cd limit one by one, gets into step 4.
3) if there is the gap greater than the robot width, then explanation also has not purging zone, returns step 1.
4) judgement of Y direction metope bc, robot limit cleaning frontier inspection surveys on the bc metope whether have the gap greater than the robot width, as otherwise get into step 5, then get into step 6 in this way.
5) robot judges that cleaning has arrived the edge in left side, room, returns starting point and continues to carry out according to the method described above the cleaning on right side, room.
6) robot judges to also have not purging zone, gets into step 4.
The present invention robot just works in circumstances not known, and in the course of the work, Yi Bian walk X axle or the cleaning of Y axle pectination; Constantly survey on one side and gather environmental information, and constantly the information that collects is used and carried out analyzing and processing, up to drawing the result that purging zone all covers; Then robot finishes cleaning works; Return the base station, wherein X axle or Y axle pectination cleaning modes are the industry common method, can be with reference to Chinese patent 0110848.5 and 02137830.4.In cleaning process, often run into various forms of barriers, robot then needs different tupes to handle:
One) first kind of tupe
When robot runs into the barrier that is positioned in the middle of the room when advancing forward, and the distance of being advanced before meeting with obstruction with change direction before the distance of advancing compare, have significantly to shorten, then robot judges that the place ahead has run into barrier.Perhaps detect the feedback signal that the place ahead has object to disappear, the distance of being walked before the distance and the last time of this walking are detected is compared obviously elongated, and then this cut-through thing of walking should be judged by robot.Because robot can not the penetrate thing; So it takes following disposal route: clean a wherein regions of barrier earlier; A regions that promptly arrives earlier; And does not temporarily handle in the opposite side zone, wait the regions that arrives earlier in room all to clean completion after, the zone that returns not cleaning is cleaned.
As shown in Figure 2, when robot runs into a barrier, possibly stay not purging zone of a slice at a side or the opposite side of barrier, be called the M1 district, this process steps is specific as follows:
1) when the a1 point of robot ambulation in Fig. 2; Upfront sensor detects the feedback signal that there is object in the place ahead; The distance of being walked before the distance of this walking and last time detected is compared and is obviously shortened; Then robot should judge that objects in front is barrier Z, and notes the coordinate that a1 is ordered, and robot continues X axle or the cleaning of Y axle pectination cleaning method then.
2) when robot ambulation arrives the b1 point, upfront sensor detects the place ahead barrier Z and disappears, but right sensor has still detected barrier Z, explains that then robot has arrived the opposite side of barrier Z.When continuing to advance to the B1 point forward, the barrier Z that right sensor detects the right side also disappears, and promptly the signal value of right sensor changes to 1 by 0; Change to 0 by 1 then, twice variation takes place, coordinate is returned in this B1 point position; And there are the zone that needs cleaning, promptly illustrated M1 district in the rear of explanation barrier Z.At this moment robot should note the coordinate that B1 is ordered.
3) robot continues cleaning forward; Arrive the A1 point up to accomplishing the cleaning of room remainder; This A1 point is on a jiao of room in the present embodiment, also can other place in actual the use, and the robot coordinate of ordering at this moment according to the B1 of front record; Linear fashion with bee-line is advanced to the B1 point, arrives the B1 point.Then according to above-mentioned steps cleaning M1 district, when x axial coordinate line that robot ambulation order through the a1 of front record, the cleaning works completion that M1 is regional.
In whole cleaning process, the M1 zone that is produced can be one, also can be a plurality of, as long as robot one by one will purging zone be not good with coordinate record, waits room purging zone cleaning completion then after, handle not purging zone one by one, can accomplish whole cleanings.
Certainly robot also might stay two not purging zones in the both sides of barrier respectively when running into a barrier, is called M2 district and N2 district, and as shown in Figure 3, this process steps is specific as follows:
1) when the a2 point of robot ambulation in Fig. 3; Detecting the place ahead has the feedback signal of object; The distance of being walked before the distance of this walking and last time detected is compared and is obviously shortened; Then robot should judge that objects in front is barrier Z, and notes the coordinate that a2 is ordered, and robot continues X axle or the cleaning of Y axle pectination cleaning method then.
2) when robot ambulation to the b2 point; In the process of a displacement of moving forward after dextrorotation turn 90 degrees, the barrier Z that robot detects the left side has disappeared, and then robot continues to move forward and arrives the c2 point behind the displacement; Robot is according to the situation of front walking; Be easy to extrapolate the coordinate that B2 is ordered, and note, also come out by mark in the N2 zone simultaneously.
3) after robot arrives c2 point, be rotated counterclockwise 90 degree after, continue cleaning forward, can detect again simultaneously at the left side barrier Z of robot and occur once more, when arriving d2 point, the coordinate that d2 is ordered is noted in barrier Z disappearance, the M2 zone is also marked simultaneously.
4) robot continues cleaning forward, arrives the A2 point up to accomplishing the cleaning of room remainder, and at this moment the robot coordinate of order according to the B2 of front record is advanced to B2 point with the mode of bee-line, and arrival B2 point is adjusted direction of travel, and it is regional to clean N2.N2 accomplishes continued forward in the zone, gets into the M2 district then and cleans, and accomplishes up to cleaning.
In whole cleaning process, M2 that is produced and N2 district can be one, also can be a plurality of; Purging zone also marks with coordinate record as long as robot incites somebody to action not one by one; After waiting the conventional purging zone cleaning in room to accomplish then, handle not purging zone one by one, can accomplish whole cleanings.
Two) second kind of tupe
When robot runs into the barrier that is positioned in the middle of the room when advancing forward, and the distance of being advanced before meeting with obstruction with change direction before the distance of advancing compare, have significantly to shorten, then robot judges that the place ahead has run into barrier.Because robot can not penetrate; So it can take following disposal route:, after the regions that promptly arrives earlier, get into opposite side immediately and clean in the zone of having cleaned barrier one side; After all cleaning completion in the zone of barrier two sides, carry out other regional cleaning of room again.
Like Fig. 4, when robot runs into a barrier Z, can stay not purging zone of a slice at the opposite side of barrier, be called the M3 district, the initial position that robot and barrier Z meet with has determined the M3 district above or below barrier Z.Robot has cleaned barrier Z first rear flank; When arriving barrier Z edge; The relative position relation at robot and barrier Z edge has determined robot to get into the mode in M3 district, below only in the room, cleans the measure of being taked when right side area runs into obstacle with robot; Situation during left field is basic identical, and its process step is following:
1) when the a3 point of robot ambulation in Fig. 4; Detecting the place ahead has the feedback signal of object; The distance of being walked before the distance of this walking and last time detected is compared and is obviously shortened, and then robot should judge that objects in front is barrier Z, and notes the coordinate that a3 is ordered.
2) the robot dextrorotation turn 90 degrees, and advances forward again, continues to advance to a displacement forward, advances to the b3 point always.
3) the process of the displacement of advancing from the b3 point, robot detects barrier and disappears, and then judges and has arrived the barrier edge, and robot continues to advance forward, up to walking a full displacement.
4) the clockwise pin of robot revolves and turn 90 degrees, and advances forward, runs into behind the metope clockwise or is rotated counterclockwise 180 degree, advances forward again.
5) when advancing to c3 point (annotate: c3 point and a3 point are a displacement in the axial distance of y), the robot left side detects the appearance of barrier once more.
6) robot continues to advance forward, and when arriving d3 point, the barrier in left side disappears, and travel distance is greater than last collision distance, the coordinate that then d3 is ordered under the robot records, and bring into operation and clean the program in M3 district.At this moment, if robot is to clean to the right to whole room, then when locating the M3 district, should clean to the left; Otherwise,, then when locating the M3 district, should clean to the right if robot is to clean to the left to whole room.
7) robot is rotated counterclockwise 90 degree, advances to a displacement forward, and the method that hinders by the cleaning of XY axle pectination advances to the e3 point always.Because the e3 x coordinate of order is identical with the x coordinate that a3 order, then the left side that has arrived M3 district is judged by robot, and dextrorotation turn 90 degrees again, cleans forward, arrives when colliding with wall, and completion is cleaned in the M3 district.
8) the d3 point is got back to the form of straight line by robot, adjusts traffic direction then, revert to again on the course of original routine, the cleaning program below carrying out.
In whole cleaning process, the M3 district that is produced can be one, also can be a plurality of, as long as robot cleans the M3 district one by one as stated above, can accomplish whole cleanings.
Three) the third tupe
It possibly be the situation like Fig. 5 that the barrier on robot and wall limit, the left and right sides, room meets, and its process steps is specific as follows:
1) robot normally cleans and arrives the a4 point, detects the feedback signal of barrier Z, writes down the a4 point coordinate;
2) continue cleaning, another limit of detecting obstacles thing Z in a usual manner to the left while cleaning;
3) when being swept into the b4 point; The space that whether exists greater than the robot width then in the situation of constantly monitoring metope, is seen, based on aforesaid boundary module algorithm computation by robot; Completion has been cleaned in discovery whole M 4 zones, and then robot should judge that the barrier of being run into is for leaning on the wall barrier;
4) the a4 point is got back to from the b4 point by robot, moves to the c4 point again, and when arriving the c4 point, barrier disappears, and then robot is rotated counterclockwise 90 degree, detects barrier Z again, advances forward, not the situation of discontinuity detection left side barrier Z.When arriving the d4 point, barrier Z disappears once more, and another side that arrives barrier Z is described.
5) be rotated counterclockwise 90 degree, advance to forward and the identical e4 point of a4 point x coordinate, then cleaning to the left; When arriving the f4 point, the space that whether exists greater than the robot width then in the situation of constantly monitoring metope, is seen by robot; According to aforesaid boundary module algorithm computation; Find that whole N4 zone cleaned completion, and as the border in diagram whole left zone not greater than the gap of robot fuselage width, then robot judges that the left side in whole room all cleans completion.
Certainly the barrier that is positioned at the wall limit possibly be one, also possibly be a plurality of, and robot is as long as handle each barrier, then to finishing as stated above one by one.
In addition, like Fig. 6, following to the barrier disposal route on both walls limit before and after the room:
1) advance to the a5 point when running into barrier when robot, robot adopts the disposal route of XY axle pectination cleaning to handle earlier, runs to the b5 point always;
2) behind the arrival b5 point; Robot should detect the not purging zone of the barrier back side (establish robot and be the front at the face of a5 point collision), but after arriving the b5 point, finds that through detecting robot has arrived wall; And there is not gap between barrier and wall greater than the robot fuselage width; Then robot should judge that barrier is to lean on the wall barrier, and the zone at the barrier back side does not exist, and then usual manner continuation cleaning is to the left pressed by robot.
Four) the 4th kind of tupe
Like Fig. 7, robot meets with the barrier Z that is positioned at the corner at the a6 point, and the limit is cleaned to the left; Frontier inspection is surveyed the appearance of barrier Z one side; But when advancing to the b6 point, new barrier (or metope) occurred, and do not had gap between former barrier and the new barrier greater than the robot fuselage width; Then robot judges that former barrier is the corner barrier, and robot continues the cleaning remaining areas by conventional cleaning modes again.
Five) the 5th kind of tupe
This pattern is mainly used in the processing to little barrier, and common little barrier is less than robot, and during practice, little barrier comprises stool pin, table pin etc., and its disposal route is similar with general barrier.
A) single little barrier situation
The situation of robot and little barrier Z collision has nothing in common with each other under the actual conditions, and the disposal route of back and robot at that time are in cleaning to the left or cleaning to the right, confidential relation is arranged, but its ultimate principle are identical.With Fig. 8 is example:
A.1) when robot ambulation during to diagram a7 point; Detecting the place ahead has the feedback signal of object; The distance of being walked before the distance of this walking and last time detected is compared and is obviously shortened, and then robot should judge that objects in front is barrier Z, and notes the coordinate that a7 is ordered.
A.2) the robot dextrorotation turn 90 degrees, and advances forward again, and in traveling process, barrier Z may disappear, and continues to advance to a displacement forward, and dextrorotation turn 90 degrees again, then cleaning forward.
A.3) when robot advance bump with wall after; Robot clockwise or be rotated counterclockwise 180 degree; Cleaning forward then; And the appearance of attention left side barrier constantly; When arriving b7 point (b7 point and a7 point are a displacement in the axial distance of y), detect barrier, continue to advancing; Arrive the c7 point up to robot, barrier disappears.Note the coordinate that c7 is ordered.
A.4) at this moment robot is rotated counterclockwise 90 degree; The displacement that moves forward arrives d7 point (in fact d7 point and the a7 x axial coordinate of ordering is identical); Dextrorotation turn 90 degrees; Advance forward, to running into wall; Dextrorotation turn 90 degrees; A displacement moves forward; Dextrorotation turn 90 degrees, and cleaning forward again is up to getting back to the c7 point.At this moment the M7 district that is stopped by barrier and produce finishes dealing with.
A.5) get back to the c7 point after, robot is clockwise or after being rotated counterclockwise 180 degree, robot revert to again on the course of original routine, carries out following cleaning program.
B) two little barrier situations
The disposal route of the disposal route of two little barriers and a little barrier is closely similar, can be divided into two kinds of situations and analyze.
B.1) distance between two little barriers is greater than robot complete machine full-size.
At this moment two secondary repetitions that little barrier is the equal of single little barrier; Therefore its disposal route also can adopt single little barrier situation to handle; Successively use secondary, handle respectively owing to two M8 that little barrier produced and N8 zone, as shown in Figure 9; Robot revert on the course of original routine then, accomplishes up to the cleaning of whole room.
B.2) distance between two little barriers is less than robot complete machine full-size.
When robot detected two distances between little barrier less than robot complete machine full-size, robot was counted as a barrier than prolate to two two little barriers merging and handles, and the disposal route of disposal route and single little barrier stool pin is similar.
C) four little barrier situations
The distance that the situation of four little barriers also will be looked between little barrier is taked different disposal routes:
When c.1) laterally reaching fore-and-aft distance all greater than the complete machine full-size of robot, robot adopts four methods that little barrier is handled one by one, like Figure 10, in fact just handles four little barriers one by one with the method for handling single little barrier.
C.2) lateral separation greater than the complete machine full-size of robot fore-and-aft distance less than the maximum sized situation of the complete machine of robot; Like Figure 11; Or lateral separation less than the complete machine full-size of robot fore-and-aft distance greater than the maximum sized situation of the complete machine of robot; The both of these case robot all adopts identical disposal route: can not through robot near two little barrier Z1 be merged into a barrier Z; Make four little barrier Z1 become two barrier Z, then by first or second kind of tupe handle.
C.3) when the horizontal and vertical distance of four little barriers during all less than the complete machine full-size of robot, robot merges four little barriers, makes four little barriers become a general barrier, then by first or second kind of tupe handle.
Even there is more little barrier in the room thus, as long as the distance between the little barrier is enough can let robot pass greatly the time, robot will handle each little barrier one by one.And as the distance between the little barrier can not let robot pass inadequately greatly the time, robot then merges into a barrier to them and handles.
Six) the 6th kind of tupe
This tupe is to handle to moving obstacle, and wherein moving obstacle is meant unfixed object in the room, like the people of walking, pet, movable toy etc.The disposal route after robot and the moving obstacle collision and the disposal route of single little barrier situation are similar, are that example is explained below with Figure 12.
1) when robot ambulation during to diagram a12 point; Detecting the place ahead has the feedback signal of object; The distance of being walked before the distance of this walking and last time detected is compared and is obviously shortened, and then robot should judge that objects in front is barrier Z, and notes the coordinate that a11 is ordered.
2) the robot dextrorotation turn 90 degrees, and advances forward again, and in traveling process, barrier may disappear, and continues to advance to a displacement forward, and dextrorotation turn 90 degrees again, then cleaning forward.
3) when robot advance bump with wall after; Robot is clockwise or be rotated counterclockwise 180 degree, the appearance of barrier on the left of cleaning forward, and the moment is then noted; When arriving b11 point (b11 point and a11 point are a displacement in the axial distance of y); Because moving obstacle has left original position, robot detects less than barrier, then b11 point coordinate under the robot records.
4) at this moment robot is rotated counterclockwise 90 degree; The displacement that moves forward arrives c11 point (in fact c11 point and the a11 x axial coordinate of ordering is identical); Dextrorotation turn 90 degrees; Advance forward, after running into wall, dextrorotation turn 90 degrees again; A displacement moves forward; Dextrorotation turn 90 degrees; Cleaning forward is up to getting back to the b11 point.At this moment finish dealing with in the M11 zone that is stopped by barrier and produce.
5) get back to the b11 point after, robot is clockwise or after being rotated counterclockwise 180 degree, robot revert to again on the course of original routine, carries out following cleaning program.
Seven) the 7th kind of tupe
This pattern is to handle for two rooms and a plurality of room, and two or more rooms can be met by robot in the process in cleaning room, be example with two rooms, and the contact process of itself and door roughly is divided into two kinds:
1) the Width approximate vertical of the cleaning direction of robot and door is shown in figure 13;
2) the Width almost parallel of the cleaning direction of robot and door is shown in figure 14.
The method that robot handles two rooms in fact with the wall limit on the disposal route of barrier be identical, the wall that is about to the door both sides is regarded the barrier by wall as, regards a room as and gets final product and merge two rooms.
Robot ambulation route such as Figure 13 and shown in Figure 14; Each some position such as the a12 that is indicated among the figure, b12, c12...... is the several Key Points position of robot calculating path; Robot will remember and mark, and concrete walking is described can be with reference to aforesaid tupe.
Simultaneously, the displacement among the present invention is the width that is less than or equal to round brush.
Certainly the foregoing description only is explanation technical conceive of the present invention and characteristics, and its purpose is to let the people who is familiar with this technology can understand content of the present invention and enforcement according to this, can not limit protection scope of the present invention with this.The all spirit of main technical schemes is done according to the present invention equivalent transformation or modification all should be encompassed within protection scope of the present invention.
Claims (10)
1. the barrier disposal route of a robot; It is characterized in that: said robot is in purging zone; Carry out X axle or the Y axle scanning cleaning first time; And record barrier rear purging zone not, after accomplishing for the first time X axle or Y axle scanning cleaning, return not purging zone of barrier rear, carry out again second time the X axle or the scanning of Y axle clean.
2. barrier disposal route according to claim 1; It is characterized in that: said robot adopts X axle or Y axle pectination cleaning modes; When running into barrier, the record a plurality of borders XY axial coordinate relevant with barrier then is when robot cleans when finishing along X axle or Y axle pectination; Said robot turns back on the border XY axial coordinate that is write down and continues to adopt the X axle or zone, Y axle pectination cleaning modes cleaning barrier behind, and this coordinate is defined as and returns coordinate.
3. barrier disposal route according to claim 2; It is characterized in that: said robot comprises at least and is positioned at both sides and is used for the side sensor of detecting obstacles thing and is positioned at the place ahead and is used for the upfront sensor of detecting obstacles thing; When the signal value of robot side sensor in X axle or Y axle single stroke had twice variation at least, this coordinate was and returns coordinate.
4. barrier disposal route according to claim 3, it is characterized in that: it comprises the steps:
S1: when robot to walk along Y-axis or X-axis mode; When detecting the place ahead the feedback signal of object arranged; The distance of being walked before the distance of this walking and last time detected is compared and is shortened; Then robot should judge that objects in front is a barrier; And note first XY axial coordinate; Robot is expert at and went to before second then, continues by X-axis or the cleaning of Y-axis pectination sweeper mode;
S2: when robot ambulation to the second, the signal value of its side sensor has at least when changing for twice, and the distance that the distance of being walked is simultaneously walked greater than the last time collision is then noted second XY axial coordinate;
S3: robot continues by X-axis or Y-axis pectination cleaning modes to second clean away from barrier one regions; Up to being accomplished, remainder cleaning in room arrives thirdly; Second the XY axial coordinate that this moment, robot write down based on the front is advanced to second with linear fashion;
S4: robot from second point continue by X axle or Y axle pectination cleaning modes to second near the cleaning of barrier one regions, when robot ambulation during through first X or Y axial coordinate, cleaning works is accomplished.
5. barrier disposal route according to claim 4 is characterized in that: said robot is defined as barrier with the wall of door both sides, room, and is defined as a room to a plurality of rooms in the process at least two rooms of cleaning.
6. barrier disposal route according to claim 4; It is characterized in that: said X axle or Y axle pectination cleaning modes are: robot advances with first direction, runs into barrier, clockwise or be rotated counterclockwise 90 degree; And the displacement that squints; Revolve and turn 90 degrees, and advance with second direction, wherein first direction and second direction are opposite each other.
7. barrier disposal route according to claim 4 is characterized in that: among the said step S3, robot is from being straight line or the combination of XY axis to second course thirdly.
8. the barrier disposal route of a robot; It is characterized in that: said robot is in purging zone; Carry out X axle or the Y axle scanning cleaning first time; And record barrier rear purging zone not, again to the barrier rear not purging zone carry out X axle or Y axle scanning cleaning second time, continue for the first time X axle or the scanning of Y axle again and clean.
9. barrier disposal route according to claim 8; It is characterized in that: said robot adopts X axle or Y axle pectination cleaning modes, when running into barrier, then writes down a plurality of borders XY axial coordinate relevant with barrier; Wherein said robot turns back on the border XY axial coordinate that is write down; The cleaning barrier is regional behind earlier, and this coordinate is defined as and returns coordinate, and robot is again along X axle or Y axle pectination cleaning modes cleaning remaining area.
10. barrier disposal route according to claim 9, it is characterized in that: it comprises the steps:
S1: when robot to walk along Y-axis or X-axis mode; When detecting the place ahead the feedback signal of object arranged; The distance of this walking and last time are detected the distance of being walked to be compared and shortens; Then robot should judge that objects in front is a barrier; And note first XY axial coordinate; Robot continued by X-axis or the cleaning of Y-axis pectination sweeper mode before detecting the barrier disappearance then;
S2: when robot ambulation to the second, the signal value of its side sensor has at least when changing for twice, and the distance that the distance of being walked is simultaneously walked greater than the last time collision is then noted second XY axial coordinate;
S3: robot continues to press XY axle pectination cleaning method and cleans to second close barrier one regions; Up to when robot ambulation through first X or Y-axis coordinate and when arriving thirdly; Second the XY axial coordinate that this moment, robot write down based on the front is advanced to second;
S4: robot from second point continue by X axle or Y axle pectination cleaning method to second away from the cleaning of barrier one regions, accomplish until cleaning works.
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Application publication date: 20120704 |