CN103349531A - Side edge regression charging method of robot dust collector - Google Patents
Side edge regression charging method of robot dust collector Download PDFInfo
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- CN103349531A CN103349531A CN2013103125697A CN201310312569A CN103349531A CN 103349531 A CN103349531 A CN 103349531A CN 2013103125697 A CN2013103125697 A CN 2013103125697A CN 201310312569 A CN201310312569 A CN 201310312569A CN 103349531 A CN103349531 A CN 103349531A
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Abstract
The invention discloses a side edge regression charging method of a robot dust collector. In the process of regression charging, the robot dust collector receives collision avoidance signals first, the robot dust collector rotates by 180 degrees in situ and walks forwards at a distance of d, and then the robot dust collector draws circle arcs around a charging stand in a clockwise mode or in an anticlockwise mode; if the robot dust collector encounters an obstacle, the robot dust collector rotates by 180 degrees in situ, then the robot dust collector continues drawing circle arcs around the charging stand, and after entering a pilot signal area, the robot dust collector is in butt joint with the charging stand through pilot signals; if the robot dust collector does not encounter the obstacle, the robot dust collector enters the pilot signal area directly, and then the robot dust collector is in butt joint with the charging stand through the pilot signals. The side edge regression charging method of the robot dust collector improves the working efficiency in the process of side edge regression charging of the robot dust collector, effectively guides the robot dust collector to the area covered with the pilot signals in short time, and improves the working efficiency of the dust collector.
Description
Technical field
The present invention relates to the robot cleaner field, the side that is specifically related to a kind of robot cleaner returns charging method.
Background technology
Along with the development of science and technology, people's comfort level of living improves rapidly along with updating of household electrical appliance, and wherein robot cleaner has just been realized the problem of intelligent cleaning.Robot cleaner can Automatically invoked recurrence charging procedure searching pilot signal be realized returning action to the guiding of cradle after work a period of time, but there is simultaneously crashproof signal on the cradle, position and angle limits when being returned charging, probably dust catcher passes in and out repeatedly in crashproof signal area and pilot signal zone, causes the dust catcher operating efficiency to decrease.
Summary of the invention
The object of the invention is to provide a kind of side of robot cleaner to return charging method, and it has shortened robot cleaner and has returned the time of charging, and has improved the operating efficiency of robot cleaner.
In order to solve these problems of the prior art, technical scheme provided by the invention is:
A kind of side of robot cleaner returns charging method, robot cleaner receives first crashproof signal when returning charging, original place Rotate 180 o then, the distance, d of walking forward, then draw circular arc around cradle clockwise or counterclockwise, the original place Rotate 180 o if robot cleaner is run into barrier, continuation is drawn circular arc around cradle, does not run into barrier by pilot signal docking cradle robot cleaner behind the pilot signal zone then directly enters the pilot signal zone then by pilot signal docking cradle if enter.
For technique scheme, as optimization, robot cleaner receives first crashproof signal when returning charging, original place Rotate 180 o then, and then the scope apart from d of walking is 10cm≤d≤100cm forward.
Be used for that the cradle that robot cleaner charges is outwards sent the semicircular crashproof signal in signal area and signal area and be fan-shaped pilot signal, when returning charging, robot receives the time difference t1≤10s between pilot signal and the crashproof signal, then robot slow astern distance, d 2 and restart docking procedure; If then dock according to normal condition during t1＞10s.
Receive the time difference t1≤10s between pilot signal and the crashproof signal when robot returns charging, then the scope of robot backway d2 is 10cm≤d2≤100cm.
The transmitter that sends crashproof signal on the cradle is positioned at different directions with the transmitter that sends pilot signal, is fan-shaped pilot signal semicircular crashproof signal area is divided into zone, the left and right sides.
The radius R of the semicircular crashproof signal that cradle sends is that 0.2m is to 1.0m.
Robot cleaner and cradle return dock successfully after, the main frame charge sheet contacts with the cradle charging spring lamination, robot cleaner is still kept forward travel state move on time t2, forward travel distance d3 forward.
The scope of time t2 of advancing is 5ms≤t2≤500ms, and the scope of forward travel distance d3 is 0.5 mm≤d3≤30mm.
Robot cleaner still can run into the situation of unexpected power down in the process that charges normal, it a little might be the cradle dead electricity that accident is fallen, and also might be that the robot cleaner accident comes off from cradle.In the charging process of robot cleaner, the cradle that is used for robot cleaner is charged outwards sends crashproof signal and pilot signal, robot cleaner is in charging process, disappear but still can receive pilot signal and the crashproof signal that cradle is launched when dust catcher detects charging current, then robot cleaner is judged to be unexpected the disengagement, and then dust catcher is taked unexpected disengaging measure; Disappear when dust catcher detects charging current, robot does not receive pilot signal and the crashproof signal that cradle is launched yet simultaneously, then judges it is grid cut-off, and dust catcher is not taked any action.
Robot cleaner judges that the accident disengaging measure of taking is dust catcher slow astern distance, d 4, reactivates docking procedure again when unexpected situation of throwing off occurring.The setting range apart from d4 that dust catcher retreats is 10cm≤d4≤100cm.
In addition, robot cleaner in course of normal operation, automatic cleaning or return in the process of charging for example, the situation that might occur being stuck, a kind of processing method of getting rid of poverty of robot cleaner provided herein.Dust catcher is provided with lower view sensor and crash sensor, view sensor and crash sensor are not triggered under certain hour section inner machine people dust catcher, then the robot cleaner judgement is stuck, so robot cleaner is taked the measure of getting rid of poverty, the step of specifically getting rid of poverty is: dust catcher slow astern distance, d 5, then dust catcher the work before carrying out of moving on behind the α that rotates to an angle to the left or to the right, for example automatic cleaning or return charging.
Robot cleaner descends view sensor and crash sensor not to be triggered in 30S, and then the robot cleaner judgement is stuck.
When the robot cleaner judgement was stuck, the setting range apart from d5 that dust catcher retreats was 10cm≤d5≤100cm, and the scope of the angle [alpha] that dust catcher rotates to the left or to the right is 10o≤α≤180o.
With respect to scheme of the prior art, advantage of the present invention is:
The side of robot cleaner disclosed in this invention returns charging method, improved the operating efficiency when the robot cleaner side returns charging, effectively within a short period of time robot cleaner is directed in the zone that pilot signal covers and goes, improve the operating efficiency of dust catcher.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples:
Fig. 1 is the process schematic diagram that dust catcher returns charging in the embodiment of the invention from the cradle left side;
Fig. 2 is the process schematic diagram that dust catcher returns charging in the embodiment of the invention from the cradle right side;
Fig. 3 is the schematic diagram when dust catcher cleans in the embodiment of the invention;
Fig. 4 is the schematic diagram that dust catcher cleans when amount of dust exceeds standard in the embodiment of the invention;
Fig. 5 is the track route schematic diagram that dust catcher cleans in the embodiment of the invention;
Wherein: 1, dust catcher; 2, cradle; 3, barrier.
The specific embodiment
Below in conjunction with specific embodiment such scheme is described further.Should be understood that these embodiment are not limited to limit the scope of the invention for explanation the present invention.The implementation condition that adopts among the embodiment can be done further adjustment according to the condition of concrete producer, and not marked implementation condition is generally the condition in the normal experiment.
Embodiment:
Robot cleaner is when cleaning, this robot cleaner is in the zone of the general plane of a sealing, referring to Fig. 3, carry out the cleaning under the pectination pattern of X-direction or Y direction, wherein the zone outside the inward flange of closed area is barrier region, within the zone be purging zone, wherein robot cleaner comprises a round brush, infrared detection sensor and the amount of dust detecting sensor that arranges at dirt cup air inlet place at least.
Robot cleaner is first along Y direction walking cleaning, when in the infrared detection sensor on the dust catcher detects the setpoint distance in the place ahead of walking, the barriers such as wall being arranged, dust catcher moves a displacement M1 along X-direction, more oppositely along Y direction walking cleaning.Robot is in cleaning process, when detecting amount of dust above setting value, record coordinate at that time, such as the point of a among Fig. 3, after touching next barrier or metope, the Rotate 180 degree, return by the straight line of last time cleaning circuit and again to clean one time, and then clean by former conventional program, the signal that feeds back according to the dust concentration sensor is thus determined displacement M1 value, if dust concentration is high, robot cleaner returns along former road so, this moment, M1 value was zero, and it is regional namely again to sweep an a point, until after dust concentration is lower than setting value, robot cleaner cleans along former conventional program behind the certain value M1 that just can advance behind the 90-degree rotation again.Wherein the M1 value is constant, less than or equal to the width of round brush.
And as shown in Figure 4, when robot cleaner detects amount of dust and exceeds standard, record the first point coordinates, such as the point of the b among Fig. 4, robot continues forward cleaning, and the amount of dust that detects is when setting value is following when finding, record the second point coordinate, such as the point of the c among Fig. 4.Concrete steps are as follows:
S1: at c point Rotate 180 degree, forward cleaning arrives the b point;
S2: at b point Rotate 180 degree, cleaning turns back to the c point forward;
S3: if amount of dust still surpasses setting value in cleaning process, then repeat S1 and S2; Otherwise enter step S4;
S4: begin to return to former conventional program from the c point and clean.
Therefore robot cleaner only needs back and forth cleaning between b, c at 2, until amount of dust is lower than setting value, cleans along former conventional program again, reduces the cleaning that repeats of robot cleaner, improves simultaneously cleaning effect.
The present invention can avoid the subregion drain sweep in sum, and the very effective battery that utilizes improves sweeping efficiency, and cleaning effect is better.
The method that intelligent robot is processed barrier is as follows:
At first select the people that starts the machine after the cleaning mode by the operation push-button on manipulation robot's fuselage or by remote controller, then robot according to the difference of departure place, carries out partiting step to purging zone from the base station or from other place except 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 line of demarcation, purging zone is divided into left side and right side two parts, and begins cleaning from left field, after the left side cleaning is finished, the right side is got back to rapidly with shortest path by robot, and the cleaning on beginning right side, robot also can clean right side area first certainly, cleans left field again.
When robot from other place except the base station, forward in the traveling process, when running into barrier for the first time, clockwise unconditional or be rotated counterclockwise 180 degree after advance in the other direction, until for the second time collision occurs.For the second time after the collision, the robot for the first time line of the point of impingement and the point of impingement for the second time is divided into left side and right side two parts as the line of demarcation with purging zone, and from left field begin the cleaning, after the left side cleaning was finished, the right side was got back to rapidly with shortest path by robot, and the cleaning on beginning right side.
After purging zone was divided, robot carries out the path planning of purging zone: under oneself knew 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 needs first to utilize at least three sensors of oneself, namely be 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 only has on one side, its side sensor is when surveying wall, there is not variation in its signal value, and barrier then can cause the variation of signal value, and the appearance signal of barrier and the disappearance of signal of barrier are namely arranged, then generate map, cook up at last the path, thus with reference to figure 5, and the algorithm of exercise boundary module:
1) robot carries out first the judgement of X-direction metope ab or cd, robot cleans to the left from left and right line of demarcation first, after the each and ab of robot or cd metope bump, the mobile to the left displacement in capital, and in mobile process, the space that whether exists greater than the robot width is seen then in the situation of constantly monitoring metope by robot, as otherwise enter step 2, then enter in this way step 3:
The metope cleaning of one displacement of 2) just having passed by is finished, and the cumulative of displacement just finished the judgement on ab limit or cd limit so one by one, enters step 4.
3) if existence greater than the gap of robot width, then illustrates to also have not purging zone, return step 1.
4) judgement of Y direction metope bc, robot limit cleaning frontier inspection is surveyed the gap that whether exists on the bc metope greater than the robot width, as otherwise enter step 5, then enter in this way step 6.
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, enters step 4.
The present invention just robot works in circumstances not known, and in the course of the work, X-axis or the Y-axis pectination of walking on one side cleaning, constantly survey on one side and gather environmental information, and constantly the information that collects is used and carried out analyzing and processing, until draw the result that purging zone all covers, then robot finishes cleaning works, return the base station, wherein X-axis or Y-axis pectination sweeper mode are the industry common method, can be with reference to Chinese patent 0110848.5 and 02137830.4.
Be provided with the main frame charge sheet of charging in the dust catcher, then be provided with charging spring lamination in the cradle that dust catcher is charged, charging spring lamination docks stuckly during charging with the main frame charge sheet, realizes comparatively firm charging docking.
The side that present embodiment has been described a kind of robot cleaner returns charging method, in the specific works process, can be divided into robot cleaner 1 and return two kinds of situations of charging and right side recurrence charging from cradle 2 left sides.
As shown in Figure 1, when robot cleaner 1 returned charging from cradle 2 left sides, robot cleaner 1 received first crashproof signal, then original place Rotate 180 o when returning charging, (10cm≤d1≤100cm) then turns right and draws circular arcs around cradle 2 travel distance d1 forward.Meet barrier 3 rear original place Rotate 180 o, continue to draw circular arcs around cradle 2, enter the pilot signal zone after, dust catcher 1 is by pilot signal docking cradle 2.
As shown in Figure 2, when robot cleaner 1 returned charging from cradle 2 right sides, robot cleaner 1 collided first crashproof signal, then original place Rotate 180 o when returning charging, (10cm≤d1≤100cm) then turns right and draws circular arcs around cradle 2 travel distance d1 forward.After entering the pilot signal zone, by pilot signal docking cradle 2.
Be used for that the cradle 2 that robot cleaner 1 charges is outwards sent the semicircular crashproof signal in signal area and signal area and be fan-shaped pilot signal, when returning charging, robot receives the time difference t1≤10s between pilot signal and the crashproof signal, then robot slow astern distance, d 2 and restart docking procedure; If then dock according to normal condition during t1＞10s.
Receive the time difference t1≤10s between pilot signal and the crashproof signal when robot returns charging, then the scope of robot backway d2 is 10cm≤d2≤100cm.
The transmitter that sends crashproof signal on the cradle 2 is positioned at different directions with the transmitter that sends pilot signal, is fan-shaped pilot signal semicircular crashproof signal area is divided into zone, the left and right sides.
The radius R of the semicircular crashproof signal that cradle 2 sends is that 0.2m is to 1.0m.
The scope of time t2 of advancing is 5ms≤t2≤500ms, and the scope of forward travel distance d3 is 0.5 mm≤d3≤30mm.
In addition, robot cleaner 1 in course of normal operation, automatic cleaning or return in the process of charging for example, the situation that might occur being stuck, a kind of processing method of getting rid of poverty of robot cleaner provided herein.Dust catcher is provided with lower view sensor and crash sensor, be not triggered at 1 time view sensor of certain hour section inner machine people dust catcher and crash sensor, then robot cleaner 1 judgement is stuck, so robot cleaner 1 is taked the measure of getting rid of poverty, the step of specifically getting rid of poverty is: dust catcher slow astern distance, d 5, then dust catcher the work before carrying out of moving on behind the α that rotates to an angle to the left or to the right, for example automatic cleaning or return charging.
When robot cleaner 1 judgement was stuck, the setting range apart from d5 that dust catcher retreats was 10cm≤d5≤100cm, and the scope of the angle [alpha] that dust catcher rotates to the left or to the right is 10o≤α≤180o.
Above-mentioned example only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the people who is familiar with technique can understand content of the present invention and according to this enforcement, can not limit protection scope of the present invention with this.All equivalent transformations that Spirit Essence is done according to the present invention or modification all should be encompassed within protection scope of the present invention.
Claims (2)
1. the side of a robot cleaner returns charging method, it is characterized in that, robot cleaner receives first crashproof signal when returning charging, original place Rotate 180 o then, the distance, d of walking forward, then draw circular arc around cradle clockwise or counterclockwise, the original place Rotate 180 o if robot cleaner is run into barrier, continuation is drawn circular arc around cradle, does not run into barrier by pilot signal docking cradle robot cleaner behind the pilot signal zone then directly enters the pilot signal zone then by pilot signal docking cradle if enter.
2. the side of robot cleaner according to claim 1 returns charging method, it is characterized in that, robot cleaner receives first crashproof signal when returning charging, original place Rotate 180 o then, and then the scope apart from d of walking is 10cm≤d≤100cm forward.
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| CN109471442A (en) * | 2018-12-11 | 2019-03-15 | 珠海市微半导体有限公司 | Robot straight line encounters the processing method and chip and robot of barrier when returning seat |
| CN109828565B (en) * | 2019-01-30 | 2022-04-05 | 宁波大叶园林设备股份有限公司 | Control method for regression path of self-moving equipment |
| CN109828565A (en) * | 2019-01-30 | 2019-05-31 | 宁波大叶园林设备股份有限公司 | A kind of control method from mobile device return path |
| CN109933071A (en) * | 2019-04-01 | 2019-06-25 | 珠海市一微半导体有限公司 | A kind of robot returns the control method of seat |
| CN110353579A (en) * | 2019-08-14 | 2019-10-22 | 成都普诺思博科技有限公司 | A kind of clean robot automatic path planning method |
| CN110597254A (en) * | 2019-09-11 | 2019-12-20 | 珠海市一微半导体有限公司 | Dangerous area establishing method by using seat avoidance signal |
| CN110597254B (en) * | 2019-09-11 | 2022-08-05 | 珠海一微半导体股份有限公司 | Dangerous area establishing method utilizing seat avoidance signal |
| CN112748724A (en) * | 2019-10-31 | 2021-05-04 | 珠海市一微半导体有限公司 | Control method after receiving charging seat guardrail signal, chip and robot |
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