CN103324193B - Cleaning robot and method for controlling cleaning robot to walk along obstacle - Google Patents
Cleaning robot and method for controlling cleaning robot to walk along obstacle Download PDFInfo
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- CN103324193B CN103324193B CN201210140135.9A CN201210140135A CN103324193B CN 103324193 B CN103324193 B CN 103324193B CN 201210140135 A CN201210140135 A CN 201210140135A CN 103324193 B CN103324193 B CN 103324193B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004140 cleaning Methods 0.000 title abstract description 7
- 230000004888 barrier function Effects 0.000 claims abstract description 169
- 230000001960 triggered effect Effects 0.000 abstract 1
- 239000000428 dust Substances 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000002310 reflectometry Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
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Abstract
A cleaning robot and a method for controlling the cleaning robot to walk along an obstacle are provided, wherein the cleaning robot comprises a body, an infrared emitter, an infrared receiver and an edge following control module. The infrared emitter emits an infrared signal to the barrier; the infrared receiver receives a reflected signal of the infrared signal reflected by the barrier; and the edge following control module is electrically connected with the infrared receiver, when the intensity of the reflected signal exceeds a threshold value, the body is triggered to walk along the obstacle by the first-order edge following distance, and if the body does not touch the obstacle after walking along the obstacle, the edge following distance of the body is sequentially reduced from the first order to a second order and a third order … Nth order after the preset time is reached until the body touches the obstacle.
Description
Technical field
The present invention can follow, with plural number, the clean robot that back gauge is walked along barrier about a kind of.
Background technology
Clean robot on the market is designed with barrier detector at present, and through the detection of barrier detector, this type of clean robot is generally of the function of the task that is cleaned of walking along metope or barrier limit. And barrier detector can be two classes: contact is with contactless. Contact barrier detector is easily stained with the dust sticked on clean robot in metope or furniture, if the power of clean robot collision obstacle is too big, furniture is easily damaged.
Contactless barrier detector then will not directly collide with barrier, and is through transmitting infrared ray in the environment at clean robot place, detects ultrared reflected signal. If not the infrared ray that contact barrier detector detects reflection means that, barrier near clean robot, is had to exist. But ultrared reflex strength can be affected by the reflectance of barrier, if the reflectance of barrier is high, clean robot is detected by obstacle signal in the place that distance barrier is far, now clean robot would not continue toward barrier direction close, if this robot is carrying out clean up task, now the dust near barrier just cannot be removed, and reduces the cleaning efficiency of clean robot. Contrary, if the reflectance of barrier is low, clean robot will be too close to barrier, is very easy on the contrary bump against barrier.
Therefore, it is necessary to provide a kind of new clean robot, no matter the reflectance of barrier is height is low, the distance that clean robot is best with barrier can be found, neither bump against barrier and too far sweep less than dust without distance barrier, to overcome the problem existing for prior art.
Summary of the invention
The main purpose of the present invention is providing a kind of clean robot can walked along barrier.
Another main purpose of the present invention a kind of can follow, with plural number, the clean robot that back gauge is walked along barrier providing.
For reaching above-mentioned purpose, the clean robot of the present invention can be walked along a barrier, and clean robot includes body, RF transmitter, infrared receiver and follows limit control module. body can follow back gauge and walk along barrier by plural number, and what wherein plural number followed that back gauge includes N rank follows back gauge, and wherein N is natural number, and the first rank to follow back gauge the longest, N rank to follow back gauge the shortest. RF transmitter is arranged at body, in order to launch an infrared signal to barrier, infrared receiver is arranged at body, in order to receive the reflected signal of barrier reflection infrared signal. follow limit control module and be arranged at body, it is electrically connected with infrared receiver, when reflected signal strength is more than a threshold value, Trigger body is walked along barrier with the back gauge of following on the first rank, if body is walked along barrier when but not encountering barrier, following limit control module will when a scheduled time arrives, the back gauge of following of body will sequentially from the first rank minimizing to second-order according to a predetermined interval value, 3rd rank ... N rank, until body encounters barrier, if wherein body with N rank follow back gauge along barrier walking but encounter barrier time, follow limit control module the back gauge of following of body to be increased to N-1 rank from N rank according to predetermined interval value.
The present invention separately provides a kind of and controls the method that clean robot is walked along barrier, in order to allow clean robot walk along barrier, clean robot includes body, infrared receiver, infrared receiver, and follow limit control module, wherein body can plural number follow back gauge along barrier walk, what wherein plural number followed that back gauge includes N rank follows back gauge, wherein N is natural number, and first rank to follow back gauge the longest, N rank to follow back gauge the shortest, control clean robot and comprise the following steps: by RF transmitter transmitting infrared signal to barrier along the method that barrier is walked, the reflected signal of barrier reflection infrared signal is received by infrared receiver, when reflected signal strength exceedes threshold value, walk along barrier with the back gauge of following on the first rank by following limit control module triggering clean robot, if body does not encounter barrier along barrier walking, following limit control module will when the scheduled time arrives, the back gauge of following of body will sequentially from the first rank minimizing to second-order, the 3rd rank according to predetermined interval value ... N rank, until clean robot encounters barrier, and, if body follows back gauge along barrier walking when encountering barrier with N rank, follow limit and control module and according to predetermined interval value, the back gauge of following of body will be increased to N-1 rank from N rank.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that the clean robot of the present invention is walked along barrier;
Fig. 1 a is the hardware configuration diagram of the clean robot of the present invention;
Fig. 2 be the present invention control the method step flow chart walked along barrier of clean robot.
Accompanying drawing labelling
Clean robot 1 body 10
RF transmitter 20 infrared signal 21
Reflected signal 22 infrared receiver 30
Follow limit and control module 40 light blocking barrier 50
Barrier 100
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Below please also refer to Fig. 1 and Fig. 1 a embodiment about the clean robot of the present invention, wherein Fig. 1 is the schematic diagram that the clean robot of the present invention is walked along barrier, and Fig. 1 a is the hardware configuration diagram of the clean robot of the present invention.
As shown in Fig. 1 and Fig. 1 a, the clean robot 1 of the present invention can be walked along barrier 100, and clean robot 1 includes body 10, infrared receiver 20, infrared receiver 30, follows limit control module 40 and light blocking barrier 50. Barrier 100 is metope in the present embodiment, but the present invention is not limited, and barrier 100 can also be furniture, or other put article at home.
In the present embodiment, body 10 can follow back gauge and walk along barrier 100 by plural number, its walking path is as shown in Figure 1, what wherein plural number followed that back gauge includes N rank follows back gauge, wherein N is natural number, and first rank follow back gauge the longest (in Fig. 1 N '=1 place), N rank to follow back gauge the shortest. At this it is noted that the unlimited number of N, and follow back gauge when body 10 just no longer reduces after encountering barrier 100.
A specific embodiment according to the present invention, the back gauge of following on each rank has setting one predetermined interval distance, and the back gauge of following on each rank will with this predetermined interval apart from equidistantly successively decrease. Such as: assume that predetermined interval is 2 centimeters, then the back gauge of following on each rank can table be all that the back gauge of following of front single order deducts 2 centimeters. If the back gauge of following on the first rank is 10 centimeters, the back gauge of following of second-order is then kept to 8 centimeters ... by that analogy, body 10 is allowed to move closer to whereby until encountering barrier 100, find whereby closest to but follow back gauge without impinging on barrier 100, dust near barrier 100 also can be eliminated, to reach the cleaning effect of the best. At this it is noted that the present invention is not limited with above-described embodiment, the back gauge of following on each rank needs not be and equidistantly successively decreases.
In a specific embodiment of the present invention, RF transmitter 20 is arranged at body 10, and RF transmitter 20 is launched in infrared signal 21 a to barrier 100. Infrared receiver 30 is arranged at body 10, and infrared receiver 30 receives barrier 100 and reflects a reflected signal 22 of infrared signal 21, and reflected signal 22 is an infrared signal. As shown in Figure 1a, light blocking barrier 50 is arranged between RF transmitter 20 and infrared receiver 30, light blocking barrier 50 can block infrared receiver 30 and directly receive the infrared signal 21 that RF transmitter 20 is launched, to guarantee that the reflected signal 22 that infrared receiver 30 receives is all reflect via barrier 100. Should be noted at this, in the present embodiment, RF transmitter 20 and infrared receiver 30 are all located at the right side of body 10, but the present invention is not limited, as long as RF transmitter 20 and infrared receiver 30 are located at the same side of body 10, or the left and right sides of body 10 is designed with RF transmitter 20 and is also suitable the present invention with infrared receiver 30.
As shown in Figure 1a, follow limit control module 40 and be arranged in body 10 and be electrically connected with infrared receiver 30, when reflected signal 22 intensity exceedes threshold value, follow limit control module 40 Trigger body 10 and walk along barrier 100 with the back gauge of following on the first rank. This should be noted, the following back gauge and can change with the difference of barrier 100 reflectance of first rank, for example, if barrier 100 can reflect the infrared signal (representing that the color of this barrier 100 is close to white) of 90%, at body 10 and barrier 100 distance 8 centimeters place, infrared receiver 30 just has been received by exceeding the reflected signal 22 of threshold value, and Trigger body 10 starts to walk along barrier 100 with the back gauge of following of 8 centimeters. And 8 centimeters herein are exactly the back gauge of following on the first rank, namely Fig. 1 shows N '=1 place. It is noted that, in an embodiment of the present invention, following limit control module 40 is a control circuit, but the present invention is not limited, follow limit control module 40 and can be configured to outside hardware unit, software program, firmware or its combination, also can rely on circuit loop or the configuration of other suitable patterns.
On the contrary, if the infrared signal of 100, barrier reflection 18% (represent the color of this barrier 100 close to black), body 10 to be sufficiently close to barrier 100 and just can receive intensity and be enough to the infrared signal that Trigger body 10 is walked along barrier 100. Such as: body 10 and barrier 100 distance 5 centimeters, infrared receiver 30 just receives intensity can exceed the reflected signal 22 of threshold value, and Trigger body 10 starts to walk along barrier 100 with the back gauge of following of 5 centimeters. Therefore in the face of the barrier 100 of different reflectivity, body 10 can start to walk along barrier 100 with the back gauge of following on the first different rank. According to one embodiment of the invention, if barrier 100 reflects the infrared signal of 90%, the back gauge of following on the first rank is approximately 8 centimeters. If barrier 100 reflects the infrared signal of 18%, the back gauge of following on the first rank is approximately 5 centimeters.
As it is shown in figure 1, when body 10 with the first rank follow back gauge along barrier 100 walk the scheduled time (as: 30 seconds) and period of walking all without bumping against barrier 100, then it represents that the first rank follow back gauge and barrier 100 from too far away. Now follow limit control module 40 by shorten body 10 follow back gauge, allow body 10 change and walk along barrier 100 with the back gauge of following of second-order, namely Fig. 1 is shown as N '=2 place. At this it is noted that a specific embodiment according to the present invention, the back gauge of following on each rank is equidistantly to successively decrease 2 centimeters, if the back gauge of following on the first rank is 8 centimeters, the back gauge of following of second-order then shortens to 6 centimeters, allows body 10 closer to barrier 100.
If body 10 with second-order follow back gauge along barrier 100 walk the scheduled time (as: 30 seconds) after, do not encounter barrier 100 yet, follow limit to control module 40 and follow back gauge by what shorten body 10 again, control body 10 to walk along barrier 100 with the back gauge of following on the 3rd rank, allow body 10 closer to metope, in the present embodiment, the back gauge of following on the 3rd rank is 4 centimeters. And as shown in Figure 1, when body 10 has encountered barrier 100 with following when back gauge is walked of the 3rd rank, no matter now whether the ticket reserving time arrives, follow limit to control module 40 and follow back gauge by what increase body 10 at once, allow the back gauge (the present embodiment is for 6 centimeters) of following that body 10 changes with second-order walk along barrier 100.
Hereinafter refer to Fig. 1 and Fig. 2, control the method walk along barrier of clean robot about the present invention, wherein Fig. 2 is the method step flow chart that the control clean robot of the present invention is walked along barrier. For convenience of description, please also refer to Fig. 1.
As shown in Figure 2, the present invention controls method that clean robot walks along barrier in order to allow clean robot 1 follow back gauge along barrier 100 with plural number, what wherein plural number followed that back gauge includes N rank follows back gauge, wherein N is natural number, and first rank to follow back gauge the longest, N rank to follow back gauge the shortest, the method that clean robot walks along barrier that controls of the present invention comprises the following steps:
Step S1: by RF transmitter transmitting infrared signal to barrier.
As it is shown in figure 1, RF transmitter 20 is arranged on body 10, and RF transmitter 20 launches infrared signal 21 a to barrier 100.
Step S2: receive a reflected signal of barrier reflection infrared signal by infrared receiver.
As it is shown in figure 1, infrared receiver 30 is arranged on body 10, and infrared receiver 30 receives the reflected signal 22 being reflected infrared signal 21 by barrier 100.
Step S3: whether reflected signal strength exceedes threshold value.
If reflected signal 22 intensity is not less than threshold value, represents and near clean robot 1, there is no barrier 100, now do not trigger and follow limit control module 40 (step S9).
If reflected signal 22 intensity exceedes threshold value, perform step S4.
Step S4: by follow limit control module trigger clean robot with
The back gauge of following on the first rank is walked along barrier.
As it is shown in figure 1, when reflected signal 22 intensity exceedes threshold value, follow limit control module 40 and Trigger body 10 walked along barrier 100 with the back gauge of following on the first rank. At this it is noted that the following back gauge and can change with the reflectance of barrier 100 of the first rank, if barrier 100 reflects the infrared signal of 90%, the back gauge of following on the first rank is approximately 8 centimeters. If barrier 100 reflects the infrared signal of 18%, the back gauge of following on the first rank is approximately 5 centimeters. It is noted that in an embodiment of the present invention, following limit control module 40 is a control circuit.
Step S5: the scheduled time arrives and do not encounter barrier?
If the scheduled time does not arrive but encountered barrier, body 10 walks (step 10) with the back gauge of following on the first rank along barrier 100 by continuing.
If the scheduled time arrives and do not encounter barrier, perform step S6.
Step S6: walk along barrier with the back gauge of following of second-order.
When body 10 with the first rank follow back gauge along barrier 100 walk a scheduled time (as: 30 seconds) and in the given time, body 10 is all without bumping against barrier 100, then it represents that the first rank follow back gauge and barrier 100 from too far away. Now follow limit control module 40 by shorten body 10 follow back gauge, allow body 10 change and walk this scheduled time along barrier 100 with the back gauge of following of second-order.
A specific embodiment according to the present invention, the back gauge of following on each rank has setting one predetermined interval distance, and the back gauge of following on each rank will with this predetermined interval apart from equidistantly successively decrease. If the back gauge of following on the first rank is 10 centimeters, and predetermined interval distance is 2 centimeters, now the following back gauge and will be kept to 8 centimeters of second-order.
Step S7: the scheduled time arrives and do not encounter barrier?
If body 10 with second-order follow back gauge along barrier 100 walk this scheduled time (as: 30 seconds) after, do not encounter barrier 100 yet, follow limit to control module 40 and follow back gauge by what shorten body 10 again, control body 10 to walk along barrier 100 with the back gauge of following on the 3rd rank, allow body 10 closer to metope.
Should be noted at this, step S7 can be continuously repeated before body 10 encounters barrier 100, if answer is all "Yes" every time, the back gauge of following of body 10 can sequentially from following back gauge from the first rank minimizing to second-order, the 3rd rank ... N rank, until clean robot 1 encounters barrier 100. If body 10 does not encounter barrier 100 always, repeat step S7N ' secondary after, body 10 will be walked (step S8) along barrier 100 with the back gauge of following on N ' rank, at this it is noted that N '��N.
If body 10 is walked along barrier 100 but encounter barrier 100 with the back gauge of following of second-order, no matter now whether the scheduled time arrives, follow limit control module 40 by increase at once allow body 10 follow back gauge, allow body 10 change and walk (step S11) with the back gauge of following on the first rank along barrier 100.
If but repeating the step S7 secondary appearance of N ' " no ", then it represents that clean robot 1 has encountered barrier 100, now will no longer reduce and follow back gauge, and by body 10 follow that back gauge increases to N '-1 rank follow back gauge (step S12).
Follow back gauge through changing clean robot 1 along what barrier 100 was walked, allow clean robot 1 when the barrier 100 of different reflectivity, the best with this barrier 100 can found to follow back gauge. When clean robot 1 is in the face of the barrier 100 of high reflectance, optimal distance can be found to clean the dust near barrier 100, not have and sweep less than the problem of dust near barrier 100 because distance barrier 100 is too remote. And when the barrier 100 of antiradar reflectivity, clean robot 1 is without wounding body 10 or make furniture or metope dirty because of too close barrier 100.
It must be noted that, the method that the control clean robot of the present invention is walked along barrier is not limited with above-mentioned order of steps, as long as the purpose of the present invention can be reached, above-mentioned order of steps also can be changed.
The technology contents of the present invention and technical characterstic are disclosed above; when without departing substantially from present invention spirit and essence thereof; those of ordinary skill in the art can make various corresponding change and deformation according to the present invention, but these change accordingly and deformation all should belong to the scope of the claims appended by the present invention.
Claims (10)
1. a clean robot, for walking along a barrier, this clean robot includes:
One body, this body follows back gauge with plural number and walks along this barrier, and what wherein this plural number followed that back gauge includes N rank follows back gauge, and wherein N is natural number, and the first rank to follow back gauge the longest, N rank to follow back gauge the shortest;
One RF transmitter, is arranged at this body, in order to launch an infrared signal to this barrier;
One infrared receiver, is arranged at this body, reflects a reflected signal of this infrared signal in order to receive this barrier; And
One follows limit controls module, it is arranged at this body, it is electrically connected with this infrared receiver, when this reflected signal strength is more than a threshold value, trigger this body to walk along this barrier with the back gauge of following on the first rank, if this body is walked along this barrier when but not meeting this barrier, this follows limit control module will when a scheduled time arrives, the back gauge of following allowing this body will sequentially reduce to second-order, the 3rd rank from the first rank according to a predetermined interval value ... N rank, until this body meets this barrier.
2. clean robot as claimed in claim 1, it is characterized in that, if this body with N ' rank follow back gauge along this barrier walking but meet this barrier time, this follows limit control module will increase the back gauge of following of this body to N '-1 rank from N ' rank according to this predetermined interval value, wherein N ' N.
3. clean robot as claimed in claim 2, it is characterised in that this predetermined interval value is divided into 2 centimeters.
4. clean robot as claimed in claim 3, it is characterised in that if this barrier reflects this infrared signal of 90%, the back gauge of following on these the first rank is 8 centimeters.
5. clean robot as claimed in claim 4, it is characterised in that if this barrier reflects this infrared signal of 18%, the back gauge of following on these the first rank is 5 centimeters.
6. clean robot as claimed in claim 5, it is characterised in that this scheduled time is 30 seconds.
7. one kind controls the method that clean robot is walked along barrier, in order to allow a clean robot walk along a barrier, clean robot includes a body, an infrared receiver, an infrared receiver and follow limit and control module, it is characterized in that, this body follows back gauge with plural number and walks along this barrier, what wherein this plural number followed that back gauge includes N rank follows back gauge, wherein N is natural number, and first rank to follow back gauge the longest, N rank to follow back gauge the shortest, the method that this control clean robot is walked along barrier comprises the following steps:
An infrared signal is launched to this barrier by this RF transmitter;
Receive this barrier by this infrared receiver and reflect a reflected signal of this infrared signal;
When this reflected signal strength is more than a threshold value, follows limit by this and control module and trigger this clean robot and walk along this barrier with the back gauge of following on the first rank;
If this body does not meet this barrier along the walking of this barrier, this follows limit control module will when a scheduled time arrives, the back gauge of following of this body will sequentially from the first rank minimizing to second-order, the 3rd rank according to a predetermined interval value ... N rank, until this clean robot meets this barrier; And
If this body follows back gauge along the walking of this barrier when meeting this barrier with N ' rank, this follows limit and controls module and the back gauge of following of this body will be increased to N '-1 rank from N ' rank according to this predetermined interval value, wherein N ' N.
8. the method that control clean robot as claimed in claim 7 is walked along barrier, it is characterised in that this predetermined interval value is divided into 2 centimeters.
9. the method that control clean robot as claimed in claim 8 is walked along barrier, it is characterised in that if this barrier can reflect this infrared signal of 90%, the back gauge of following on these the first rank is 8 centimeters.
10. the method that control clean robot as claimed in claim 9 is walked along barrier, it is characterised in that if this barrier can reflect this infrared signal of 18%, the back gauge of following on these the first rank is 5 centimeters.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101109902 | 2012-03-22 | ||
| TW101109902A TWI491374B (en) | 2012-03-22 | 2012-03-22 | Cleaning robot and method for controlling a robot moving along an obstacle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103324193A CN103324193A (en) | 2013-09-25 |
| CN103324193B true CN103324193B (en) | 2016-06-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210140135.9A Expired - Fee Related CN103324193B (en) | 2012-03-22 | 2012-05-03 | Cleaning robot and method for controlling cleaning robot to walk along obstacle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN103324193B (en) |
| TW (1) | TWI491374B (en) |
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| CN106406298B (en) * | 2015-07-27 | 2020-04-07 | 智棋科技有限公司 | Cleaning device and control method thereof |
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| CN106443654B (en) * | 2015-08-05 | 2019-07-05 | 中国移动通信集团设计院有限公司 | A kind of method and device detecting obstacle |
| TWI634403B (en) * | 2017-01-26 | 2018-09-01 | 好樣科技有限公司 | An automatic cleaning robot and a controlling method of the same |
| US11144064B2 (en) | 2017-04-11 | 2021-10-12 | Amicro Semiconductor Co., Ltd. | Method for controlling motion of robot based on map prediction |
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| CN108209773A (en) * | 2018-01-04 | 2018-06-29 | 深圳市银星智能科技股份有限公司 | The intelligent barrier avoiding method of clean robot and clean robot |
| CN108519355B (en) * | 2018-02-10 | 2020-11-20 | 广东雷洋智能科技股份有限公司 | Method for judging strength of barrier reflection material of cleaning robot |
| CN108371513A (en) * | 2018-04-04 | 2018-08-07 | 佛山市金净创环保技术有限公司 | A kind of cleaning device for reflective surface |
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Also Published As
| Publication number | Publication date |
|---|---|
| TW201338744A (en) | 2013-10-01 |
| CN103324193A (en) | 2013-09-25 |
| TWI491374B (en) | 2015-07-11 |
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