CN103349531B - The side of robot cleaner returns charging method - Google Patents
The side of robot cleaner returns charging method Download PDFInfo
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- CN103349531B CN103349531B CN201310312569.7A CN201310312569A CN103349531B CN 103349531 B CN103349531 B CN 103349531B CN 201310312569 A CN201310312569 A CN 201310312569A CN 103349531 B CN103349531 B CN 103349531B
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Abstract
The side that the invention discloses a kind of robot cleaner returns charging method, robot cleaner first receives crashproof signal when returning charging, then rotate in place 180, walk forward a distance, d, circular arc is drawn the most clockwise or counterclockwise around cradle, if robot cleaner encounters barrier, rotate in place 180, continue around cradle and draw circular arc, if by guiding signal docking cradle robot cleaner not encounter barrier after entering guiding signal area, being directly entered guiding signal area then by guiding signal to dock cradle.The present invention improves robot cleaner side and returns operating efficiency when charging, and is effectively directed to robot cleaner within a short period of time guide in the region that signal is covered, improves the operating efficiency of dust catcher.
Description
Technical field
The present invention relates to robot cleaner field, the side being 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, the problem that wherein robot cleaner is achieved that intelligence cleaning.Robot cleaner can automatically call after a period of operation and return charging procedure searching guiding signal realization to the guiding recurrence action of cradle, but there is crashproof signal on cradle simultaneously, limited by position when returning charging and angle, it is likely to dust catcher repeatedly pass in and out with guiding signal area in crashproof signal area, causes dust catcher operating efficiency to decrease.
Summary of the invention
The side that present invention aim at providing a kind of robot cleaner returns charging method, which shorten robot cleaner and returns the time of charging, improves the operating efficiency of robot cleaner.
In order to solve these problems of the prior art, present invention provide the technical scheme that
The side of a kind of robot cleaner returns charging method, robot cleaner first receives crashproof signal when returning charging, then rotate in place 180, walk forward a distance, d, circular arc is drawn the most clockwise or counterclockwise around cradle, if robot cleaner encounters barrier, rotate in place 180, continue around cradle and draw circular arc, if by guiding signal docking cradle robot cleaner not encounter barrier after entering guiding signal area, being directly entered guiding signal area then by guiding signal to dock cradle.
For technique scheme, as optimization, robot cleaner first receives crashproof signal when returning charging, then rotates in place 180, and the scope of distance d walked the most forward is 10cm≤d≤100cm.
Cradle for being charged robot cleaner sends out the semicircular crashproof signal in signal area with signal area in fan-shaped guiding signal, time difference t1≤the 10s guided between signal and crashproof signal is received, then robot slow astern distance, d 2 restart docking procedure when robot returns charging；If during t1 ＞ 10s, dock according to normal condition.
Receive the time difference t1≤10s guided between signal and crashproof signal when robot returns charging, then the scope of robot backway d2 is 10cm≤d2≤100cm.
The transmitter sending crashproof signal on cradle is positioned at different directions with sending the transmitter guiding signal, in fan-shaped guiding signal, semicircular crashproof signal area is divided into region, the left and right sides.
The radius R of the semicircular crashproof signal that cradle is sent is 0.2m to 1.0m.
After robot cleaner and cradle return and dock successfully, main frame charge sheet contacts with cradle charging spring lamination, and robot cleaner still maintains forward travel state to move on time t2, forward forward travel distance d3.
The scope of advance time t2 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 during charging normal, and surprisingly falls a little to be likely to be cradle dead electricity, it is also possible to being that robot cleaner is unexpected comes off from cradle.In the charging process of robot cleaner, cradle for being charged robot cleaner sends out crashproof signal and guides signal, robot cleaner is in charging process, when dust catcher detects charging current disappearance but still guiding signal and the crashproof signal that cradle is launched can be received, then robot cleaner is judged to unexpected disengagement, then dust catcher is taked to undesirably fall off measure；When dust catcher detects that charging current disappears, robot does not receives guiding signal and the crashproof signal that cradle is launched yet simultaneously, then judge it is grid cut-off, and any action do not taked by dust catcher.
When robot cleaner judges to occur unexpected situation about disengaging, the measure that undesirably falls off taked is dust catcher slow astern distance, d 4, then reactivates docking procedure.The setting range of distance d4 that dust catcher retreats is 10cm≤d4≤100cm.
It addition, robot cleaner is in course of normal operation, such as during automatic cleaning or recurrence charging, it is possible to situation about being stuck occurs, there is provided herein the processing method of getting rid of poverty of a kind of robot cleaner.Dust catcher is provided with lower view sensor and crash sensor, under certain period of time inner machine people's dust catcher, view sensor and crash sensor are not triggered, then robot cleaner judges to be stuck, then robot cleaner takes the measure of getting rid of poverty, step of specifically getting rid of poverty is: dust catcher slow astern distance, d 5, then dust catcher rotates to an angle the work before performing that moves on after α to the left or to the right, such as automatic cleaning or return charging.
Robot cleaner lower view sensor and crash sensor in 30S are not triggered, then robot cleaner judges to be stuck.
When robot cleaner judges to be stuck, the setting range of distance d5 that dust catcher retreats is 10cm≤d5≤100cm, and the scope of the angle [alpha] that dust catcher rotates to the left or to the right is 10≤α≤180.
Relative to scheme of the prior art, the invention have the advantage that
The side of robot cleaner disclosed in this invention returns charging method, improve robot cleaner side and return operating efficiency when charging, effectively it is directed to robot cleaner within a short period of time guide in the region that signal is covered, improves the operating efficiency of dust catcher.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings and embodiment the invention will be further described:
Fig. 1 is the process schematic that in the embodiment of the present invention, dust catcher returns charging on the left of cradle；
Fig. 2 is the process schematic that in the embodiment of the present invention, dust catcher returns charging on the right side of cradle；
Schematic diagram when Fig. 3 is that in the embodiment of the present invention, dust catcher cleans；
Fig. 4 is that in the embodiment of the present invention, dust catcher carries out the schematic diagram cleaned when amount of dust exceeds standard；
Fig. 5 is that in the embodiment of the present invention, dust catcher carries out the track route schematic diagram cleaned；
Wherein: 1, dust catcher；2, cradle；3, barrier.
Detailed description of the invention
Below in conjunction with specific embodiment, such scheme is described further.Should be understood that these embodiments are for illustrating that the present invention is not limited to limit the scope of the present invention.The implementation condition used in embodiment can do adjustment further according to the condition of concrete producer, and not marked implementation condition is usually the condition in normal experiment.
Embodiment:
Robot cleaner is when cleaning, this robot cleaner is in the region of a general plane closed, see Fig. 3, carry out the cleaning under the comb like fashion of X-direction or Y direction, wherein the region outside the inward flange of closed area is barrier region, within region be purging zone, wherein robot cleaner at least include a round brush, infrared detection sensor and dirt cup air inlet arrange dust quantity detection sensor.
Robot cleaner first cleans along Y direction walking, and when having the barriers such as wall in the setpoint distance in the front that the infrared detection sensor on dust catcher detects walking, dust catcher moves a displacement M1 along X-direction, more reversely cleans along Y direction walking.Robot is in cleaning process, when detecting that amount of dust exceedes setting value, record coordinate at that time, such as a point in Fig. 3, after touching next barrier or metope, rotation turnback, clean circuit by last straight line and return cleaning one time again, clean by former conventional program the most again, the signal fed back thus according to dust concentration sensor, determine displacement M1 value, if dust concentration is high, so robot cleaner is along backtracking, now M1 value is zero, the most again an a point region is swept, until dust concentration is less than after setting value, robot cleaner just can be advanced after certain value M1 after 90-degree rotation, clean along former conventional program again.Wherein M1 value is constant, less than or equal to the width of round brush.
And as shown in Figure 4, when robot cleaner detects that amount of dust exceeds standard, record the first point coordinates, such as the b point in Fig. 4, robot continues to clean forward, when finding that detected amount of dust is below setting value, records second point coordinate, such as the c point in Fig. 4.Specifically comprise the following steps that
S1: revolve turnback at c point, clean forward, arrives b point；
S2: revolve turnback at b point, clean forward, return to c point；
S3: if amount of dust is still above setting value in cleaning process, then repeat S1 and S2；Otherwise enter step S4；
S4: begin return to former conventional program from c point and clean.
Therefore robot cleaner only need to clean between b, c 2 back and forth, until amount of dust is less than setting value, then cleans along former conventional program, and that reduces robot cleaner repeats cleaning, improves cleaning effect simultaneously.
The present invention is avoided that subregion drain sweep, the very effective battery that utilizes in sum, improves sweeping efficiency, and cleaning effect is more preferable.
The method that barrier is processed by intelligent robot is as follows:
Starting robot after first passing through the operation button on operation robot fuselage or selecting cleaning mode by remote controller, robot is from base station or from other place in addition to base station, then according to the difference of departure place, purging zone carries out partiting step:
When robot is from base station, when advance encounters barrier for the first time, robot using the line of base station and this point of impingement as line of demarcation, purging zone is divided into left side and right side two parts, and starts to clean, after left side has cleaned from left field, robot rapidly returns back to right side with shortest path, and the cleaning on the right side of starting, right side area first can also be cleaned, then clean left field by certain robot.
When robot is from other place in addition to base station, forward in traveling process, when for the first time encountering barrier, opposite direction is advanced, until occurring second time to collide after 180 degree the most clockwise or counterclockwise.Collision rift for the second time, purging zone as line of demarcation, is divided into left side and right side two parts by the line of the first time point of impingement and the second time point of impingement by robot, and start to clean from left field, after left side has cleaned, robot rapidly returns back to right side with shortest path, and starts the cleaning on right side.
After purging zone divides, robot carries out the path planning of purging zone: under oneself knows environment, robot generates map according to environmental information, and its paths planning method wants simple；And in circumstances not known, robot the most first needs to utilize at least three sensor of oneself, the most located anteriorly upfront sensor, it is positioned at the side sensor of both sides, explore and cognitive environment, wall only one side due to room, its side sensor is when detecting wall, there is not change in its signal value, barrier then can cause the change of signal value, and i.e. have barrier signal and the disappearance of signal of barrier occurs, then map is generated, finally cook up path, thus with reference to Fig. 5, and the algorithm of exercise boundary module:
1) robot first carries out the judgement of X-direction metope ab or cd, robot first cleans to the left from left and right line of demarcation, after robot is every time and ab or cd metope collides, a displacement will be moved to the left, and during movement, robot is then constantly monitoring the situation of metope, see the space whether existed more than robot width, as otherwise entered step 2, the most then entrance step 3:
2) metope of the displacement just passed by has cleaned, and the cumulative of displacement just completes ab limit or the judgement on cd limit the most one by one, enters step 4.
3) if there is the gap more than robot width, then explanation also has non-purging zone, returns step 1.
4) judgement of Y direction metope bc, robot limit cleans frontier inspection surveys whether there is the gap more than robot width on bc metope, as otherwise entered step 5, the most then enters step 6.
5) robot judges that cleaning has arrived the edge on the left of room, returns the cleaning that starting point continues to carry out according to the method described above on the right side of room.
6) robot judges also have non-purging zone, enters step 4.
Present invention robot just works in circumstances not known, and in the course of the work, while walking X-axis or Y-axis pectination clean, the most constantly detection gathers environmental information, and is constantly analyzed the Information application collected processing, until drawing the result that purging zone the most all covers, then robot terminates cleaning works, returning to base station, wherein X-axis or Y-axis pectination cleaning modes are industry common method, refer to Chinese patent 0110848.5 and 02137830.4.
Being provided with the main frame charge sheet of charging in dust catcher, be then provided with charging spring lamination in the cradle being charged dust catcher, during charging, charging spring lamination docks stuck with main frame charge sheet, it is achieved more firm charging docking.
The side that present embodiment describes a kind of robot cleaner returns charging method, during specific works, robot cleaner 1 can be divided into return charging on the left of cradle 2 and return two kinds of situations of charging with right side.
As shown in Figure 1, when robot cleaner 1 returns charging on the left of cradle 2, robot cleaner 1 first receives crashproof signal when returning charging, then rotates in place 180, travel distance d1 (10cm≤d1≤100cm) forward, then turns right and draws circular arc around cradle 2.Rotating in place 180 after encountering barrier 3, continue around cradle 2 and draw circular arc, enter after guiding signal area, dust catcher 1 is by guiding signal docking cradle 2.
As shown in Figure 2, when robot cleaner 1 returns charging on the right side of cradle 2, robot cleaner 1 first collides crashproof signal when returning charging, then rotates in place 180, travel distance d1 (10cm≤d1≤100cm) forward, then turns right and draws circular arc around cradle 2.Enter after guiding signal area, by guiding signal docking cradle 2.
Cradle 2 for being charged robot cleaner 1 sends out the semicircular crashproof signal in signal area with signal area in fan-shaped guiding signal, time difference t1≤the 10s guided between signal and crashproof signal is received, then robot slow astern distance, d 2 restart docking procedure when robot returns charging；If during t1 ＞ 10s, dock according to normal condition.
Receive the time difference t1≤10s guided between signal and crashproof signal when robot returns charging, then the scope of robot backway d2 is 10cm≤d2≤100cm.
The transmitter sending crashproof signal on cradle 2 is positioned at different directions with sending the transmitter guiding signal, in fan-shaped guiding signal, semicircular crashproof signal area is divided into region, the left and right sides.
The radius R of the semicircular crashproof signal that cradle 2 is sent is 0.2m to 1.0m.
After robot cleaner 1 and cradle 2 return and dock successfully, main frame charge sheet contacts with cradle 2 charging spring lamination, and robot cleaner 1 still maintains forward travel state to move on time t2, forward forward travel distance d3.
The scope of advance time t2 is 5ms≤t2≤500ms, and the scope of forward travel distance d3 is 0.5 mm≤d3≤30mm.
Robot cleaner 1 still can run into the situation of unexpected power down during charging normal, and surprisingly falls a little to be likely to be cradle 2 dead electricity, it is also possible to being that robot cleaner 1 is unexpected comes off from cradle 2.In the charging process of robot cleaner 1, cradle 2 for being charged robot cleaner 1 sends out crashproof signal and guides signal, robot cleaner 1 is in charging process, when dust catcher detects charging current disappearance but still guiding signal and the crashproof signal that cradle 2 is launched can be received, then robot cleaner 1 is judged to unexpected disengagement, then dust catcher is taked to undesirably fall off measure；When dust catcher detects that charging current disappears, robot does not receives guiding signal and the crashproof signal that cradle 2 is launched yet simultaneously, then judge it is grid cut-off, and any action do not taked by dust catcher.
When robot cleaner 1 judges to occur unexpected situation about disengaging, the measure that undesirably falls off taked is dust catcher slow astern distance, d 4, then reactivates docking procedure.The setting range of distance d4 that dust catcher retreats is 10cm≤d4≤100cm.
It addition, robot cleaner 1 is in course of normal operation, such as during automatic cleaning or recurrence charging, it is possible to situation about being stuck occurs, there is provided herein the processing method of getting rid of poverty of a kind of robot cleaner.Dust catcher is provided with lower view sensor and crash sensor, it is not triggered at certain period of time 1 time view sensor of inner machine people's dust catcher and crash sensor, then robot cleaner 1 judges to be stuck, then robot cleaner 1 takes the measure of getting rid of poverty, step of specifically getting rid of poverty is: dust catcher slow astern distance, d 5, then dust catcher rotates to an angle the work before performing that moves on after α to the left or to the right, such as automatic cleaning or return charging.
Robot cleaner 1 lower view sensor and crash sensor in 30S are not triggered, then robot cleaner 1 judges to be stuck.
When robot cleaner 1 judges to be stuck, the setting range of distance d5 that dust catcher retreats is 10cm≤d5≤100cm, and the scope of the angle [alpha] that dust catcher rotates to the left or to the right is 10≤α≤180.
Examples detailed above is only for illustrating technology design and the feature of the present invention, and its object is to allow person skilled in the art is to will appreciate that present disclosure and implement according to this, can not limit the scope of the invention with this.All equivalent transformations done according to spirit of the invention or modification, all should contain 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 first receives crashproof signal when returning charging, then rotate in place 180, walk forward a distance, d, circular arc is drawn the most clockwise or counterclockwise around cradle, if robot cleaner encounters barrier, rotate in place 180, continue around cradle and draw circular arc, if by guiding signal docking cradle robot cleaner not encounter barrier after entering guiding signal area, being directly entered guiding signal area then by guiding signal to dock cradle；
Receive guiding signal when robot returns charging, and receive the time difference t1≤10s guided between signal and crashproof signal, then robot slow astern distance, d 2 restart docking procedure；
The side recurrence charging of described robot cleaner is specifically divided into robot cleaner and returns charging and right side recurrence charging on the left of cradle；
When robot cleaner returns charging on the left of cradle, robot cleaner first receives crashproof signal when returning charging, then rotates in place 180, travel distance d forward, then turns right and draws circular arc around cradle；Rotating in place 180 after encountering barrier, continue around cradle and draw circular arc, enter after guiding signal area, dust catcher is by guiding signal docking cradle；
When robot cleaner returns charging on the right side of cradle, robot cleaner first collides crashproof signal when returning charging, then rotates in place 180, travel distance d forward, then turns right and draws circular arc around cradle；Enter after guiding signal area, by guiding signal docking cradle；
After robot cleaner docks successfully with cradle recurrence, main frame charge sheet contacts with cradle charging spring lamination, robot cleaner still maintains forward travel state to move on time t2, forward forward travel distance d3, the scope of advance time t2 is 5ms≤t2≤500ms, and the scope of forward travel distance d3 is 0.5mm≤d3≤30mm；
Robot cleaner is in charging process, when dust catcher detects charging current disappearance but still guiding signal and the crashproof signal that cradle is launched can be received, then robot cleaner is judged to unexpected disengagement, take to undesirably fall off measure: dust catcher slow astern distance, d 4, reactivating docking procedure again, the setting range of backway d4 is 10cm≤d4≤100cm.
2. return charging method according to the side of the robot cleaner described in claim 1, it is characterized in that, robot cleaner first receives crashproof signal when returning charging, then rotate in place 180, and the scope of distance d walked the most forward is 10cm≤d≤100cm.
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| CN104950889A (en) * | 2015-06-24 | 2015-09-30 | 美的集团股份有限公司 | Robot charging stand and robot provided with same |
| CN106444736B (en) * | 2015-08-11 | 2020-07-14 | 苏州宝时得电动工具有限公司 | Automatic return system and control method |
| CN105182974B (en) * | 2015-09-16 | 2018-07-31 | 江苏拓新天机器人科技有限公司 | A kind of intelligent method for searching of sweeping robot |
| CN106308685B (en) * | 2016-08-23 | 2019-10-11 | 北京小米移动软件有限公司 | cleaning robot and control method thereof |
| CN107976995B (en) * | 2016-10-24 | 2021-06-11 | 苏州宝时得电动工具有限公司 | Intelligent mobile system, intelligent mobile device and mobile method thereof |
| CN107390685B (en) * | 2017-07-14 | 2020-10-16 | 深圳市优必选科技有限公司 | Robot recharging control method, robot and robot system |
| CN109662662A (en) * | 2017-10-13 | 2019-04-23 | 松下家电研究开发（杭州）有限公司 | A kind of method that sweeping robot automatically updates battery charger cradle position |
| CN108762254A (en) * | 2018-05-03 | 2018-11-06 | 杭州晶智能科技有限公司 | Mobile robot return path planing method based on wireless signal strength variation |
| CN108762261B (en) * | 2018-05-21 | 2020-11-27 | 杭州晶一智能科技有限公司 | Mobile robot traversal path planning method based on double wireless networks |
| CN109298716B (en) * | 2018-11-23 | 2022-10-14 | 珠海一微半导体股份有限公司 | Planning cleaning method and chip for robot |
| CN109471442B (en) * | 2018-12-11 | 2022-03-04 | 珠海一微半导体股份有限公司 | Processing method for meeting obstacle when robot linearly returns to seat, chip and robot |
| 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 |
| CN109933071B (en) * | 2019-04-01 | 2020-07-14 | 珠海市一微半导体有限公司 | Robot seat returning control method |
| 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 |
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