CN103376801A - Self moving ground-handling robot and cleaning control method thereof - Google Patents
Self moving ground-handling robot and cleaning control method thereof Download PDFInfo
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- CN103376801A CN103376801A CN201210108722XA CN201210108722A CN103376801A CN 103376801 A CN103376801 A CN 103376801A CN 201210108722X A CN201210108722X A CN 201210108722XA CN 201210108722 A CN201210108722 A CN 201210108722A CN 103376801 A CN103376801 A CN 103376801A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000004888 barrier function Effects 0.000 claims description 41
- 238000005295 random walk Methods 0.000 claims description 15
- 241001417527 Pempheridae Species 0.000 description 14
- 238000005498 polishing Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004018 waxing Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention belongs to the field of intelligent robots. Specifically, the invention relates to a self moving ground-handling robot and a cleaning control method thereof. The control method specifically includes a step S0 that the robot walks randomly; a step S1 that the robot continues to walk randomly after running into an obstacle; a step S2 that cleaning is started in an small area when a control unit determines that straight distance between two consecutive collisions is in a range between a first threshold value and a second threshold value; and returning to the step S0 otherwise. The self moving ground-handling robot includes a functional part, a running unit, a drive unit, an obstacle sensor and the control unit. The control unit controls the functional part and the drive unit to work according to the above control method. The self moving ground-handling robot and the cleaning control method thereof are suitable for cleaning corners or narrow areas.
Description
Technical field
The invention belongs to a kind of field in intelligent robotics, specifically, relate to a kind of control method from moving land disposal robot and cleaning thereof.
Background technology
At present, existing clean robot mainly carries out three kinds of cleaning modes: sweeper mode, fixed point sweeper mode and wall/barrier are followed sweeper mode (being also referred to as the welt cleaning) at random.When ground has regionally when messy, robot fixes a point cleaning such as spiral cleaning to this dirty zone; When not needing ground fixed a point to clean, can adopt random pattern, i.e. robot random walk is so that robot effectively covers whole ground; When the wall edge that need to omit sweeper mode at random or barrier edge cleaned, robot adopted wall/barrier to follow sweeper mode, namely cleans along the barrier edge.Just introduce above-mentioned three kinds of cleaning modes in detail such as US Patent No. 7388343, sweeping robot is generally by effectively cleaning target floor respectively or in conjunction with above-mentioned three kinds of cleaning modes.
The clean robot most of the time is at random sweeper mode, namely arbitrarily walk on working surface limit limit cleaning, there is not fixing cleaning path, can adopt main brush and limit brush cooperating during cleaning, as run into barrier, leave barrier after the collision, continue cleaning again, it can deliberately not clean along barrier.If the base of barrier is less or irregular, such as table leg, stool leg etc., can get around in the sweeper mode at random, cleaning effect can be do not affected, still, the phenomenon of cleaning can be occurred leaking to some narrow and small zones or corner, make cleaning not thorough, affected cleaning efficiency.When clean robot is carried out the fixed point sweeper mode, usually can't clean the barrier border area.Especially, after clean robot was carried out wall/barrier and followed sweeper mode, it only cleaned wall or common barrier edge with respect to the zone of robot diameter, to from the barrier edge slightly at a distance the zone do not clean yet.
Summary of the invention
Technical matters to be solved by this invention is, for the deficiencies in the prior art, provides a kind of control method from moving land disposal robot and cleaning thereof, is fit to cleaning corner or long and narrow zone.
The present invention specifically comprises the steps: from the control method of moving land disposal robot cleaning
Step S0: robot random walk;
Step S 1: continue random walk behind the robot collision obstacle;
Step S2: control module is judged in the scope of straight-line segment distance between first threshold and Second Threshold of double collision, is begun to carry out the zonule cleaning; Otherwise, return step S0.
Further, the medium and small regional cleaning of described step S2 specifically comprises following steps:
Step S21: control carries out cleaning towards territory, the first lateral areas;
Step S22: judge that control enters step S23 after turning to and withdrawing from territory, the first lateral areas when arriving at the bottom in territory, the first lateral areas; Otherwise, return step S21;
Step S23: robot carries out cleaning towards reverse territory, the second lateral areas;
Step S24: judge when arriving at the bottom in territory, the second lateral areas, stop the zonule cleaning and withdraw from the zonule; Otherwise, return step S23.
The method that withdraws from the zonule among the step S24 specifically comprises following steps:
Step S241: robot welt walking;
Step S242: when the short lines distance of judging the whole zonule of position deviation at robot place reaches the 3rd threshold value, return step S0; Otherwise, return step S241.
The medium and small regional cleaning of described step S2 specifically comprises following steps:
Step S21 ': control carries out cleaning towards territory, the first lateral areas;
Step S25: when judging that walking straight-line segment distance is not in the scope between first threshold and Second Threshold, control enters step S23 ' after turning to and withdrawing from territory, the first lateral areas; Otherwise, return step S21 ';
Step S23 ': robot carries out cleaning towards reverse territory, the second lateral areas;
Step S27: when judging that walking straight-line segment distance is not in the scope between first threshold and Second Threshold, stop the zonule cleaning and withdraw from this zonule; Otherwise, return step S23 '.
The method that withdraws from the zonule among the step S27 specifically comprises following steps:
Step S271: when walking straight-line segment distance during more than or equal to Second Threshold, return step S0; Otherwise, enter step S272;
Step S272: robot welt walking;
Step S273: when the short lines distance of judging the whole zonule of position deviation at robot place reaches the 3rd threshold value, return step S0; Otherwise, return step S272.
Wherein, described first threshold is 30cm, and Second Threshold is 180cm, and described the 3rd threshold value is 100cm.
Described cleaning is the arc type cleaning, and described arc type cleaning path comprises welt section and straight-line segment, and at least one end of described straight-line segment and barrier intersect.
Described walking straight-line segment distance is less than or equal to Second Threshold.
Described welt segment distance is 2/3 of robot width.
When robot welt travel distance less than 2/3 or robot ambulation straight-line segment of robot width distance less than Second Threshold or robot rotation predetermined angular after behind the collision obstacle, judge that robot arrives at the bottom in territory, a lateral areas.
The present invention comprises functional part, walking unit, driver element, obstacle sensor, control module from moving land disposal robot;
Whether front end or side that described obstacle sensor is used for sniffing robot have barrier, and with the information conveyance that detects to described control module;
Described control module is connected with driver element with described functional part respectively, driver element is connected with described walking unit, described driver element is accepted the instruction of control module, drive described walking unit by predetermined route walking, described functional part is accepted the instruction of control module and is carried out floor treatment by predetermined mode of operation;
Described control module is controlled described functional part, driver element work by above-mentioned control method.
Describedly also comprise the plate that hits that is positioned at described robot ambulation direction end from moving land disposal robot, be provided with described obstacle sensor hitting plate.
Description of drawings
Fig. 1 is the structure composition frame chart from mobile clean robot of the present invention;
Fig. 2 is the surface structure from mobile clean robot of the present invention;
Fig. 3 is the schematic flow sheet of the control method embodiment one from mobile clean robot cleaning of the present invention;
Fig. 4 is the walking synoptic diagram of the control method embodiment one from mobile clean robot cleaning of the present invention;
Fig. 5 is the schematic flow sheet of the control method embodiment two from mobile clean robot cleaning of the present invention;
Fig. 6 is the walking synoptic diagram of the control method embodiment two from mobile clean robot cleaning of the present invention.
Embodiment
Embodiment one
Be the structure composition frame chart from moving land disposal robot of the present invention such as Fig. 1, should comprise cleaning part 1, walking unit 2, driver element 3, the obstacle sensor 4 that is positioned at the robot front end and control module 5 from moving land disposal robot.As shown in Figure 2, should be sweeping robot from moving land disposal robot, this sweeping robot comprises body 6, is provided with in the front portion of this body 6 and hits plate 61, obstacle sensor 4 is arranged on and hits on the plate 61.The robot sensor that generally breaks the barriers is surveyed peripheral barrier and is avoided or welt.Concrete, this obstacle sensor can be ultrasonic sensor, infrared sensor, travel switch etc.When working such as ultrasonic sensor, ultrasonic signal is transmitted into the travel path of robot, and receives the ultrasonic signal that is reflected back from barrier, thereby determine whether barrier exists and from the distance of barrier.Comprise infrared transmitter and receiver such as infrared sensor, infrared remote receiver receives the infrared ray that is reflected back from barrier, determines whether barrier exists and from the distance of barrier.
Robot of the present invention also is provided with range finder, as connecting scrambler in travel wheel, and the travel distance of the number of revolutions robot measurement by calculating wheel.In addition, robot also is provided with direction sensor, such as code-disc, acceleration transducer or gyroscope etc., is used for judging the direct of travel with control.
Clean the zonule, robot at first will identify the zonule.If when the distance between two barriers is not more than certain numerical value, can suppose that then the zone between two barriers is the zonule.Such as long and narrow zones such as corridors, the distance between the two parallel metopes is the zonule during less than certain numerical value such as 2m; Perhaps corner, right angle, room, diagonal line is that the determined square corner of 2m is the zonule; When perhaps the distance between sofa and the metope was less than 2m, the zone between sofa and the metope was the zonule.In fact since at random the cleaning and the welt sweeper mode the room most areas was cleaned, so the zone definitions that the distance between two barriers is larger is that the zonule is improper.Thereby the travel distance that can collide two barriers and calculate this robot by robot determines that robot arrives at the zonule within the specific limits the time.Specifically, first threshold and Second Threshold are set in the robot control unit, when the travel distance when robot collides two barriers is between this two threshold value, thereby judge that robot arrives at the zonule and carries out the zonule cleaning.
The below introduces in detail the present invention and how to clean the zonule from moving land disposal robot, such as the zonule between cleaning corner areas, long and narrow zone, common barrier and the metope or the zonule between the common barrier etc.
As shown in Figure 3-4, after the opening power, in the room, begin random walk (step S0) from moving land disposal robot, the hitting plate and can bump with barrier (such as metope or common barrier etc.) of robot front end setting in the random walk process hit the obstacle sensor 4 that arranges on the plate signal passed to control module.Be provided with first threshold and Second Threshold in the control module 5 of robot, better, first threshold is 30cm, and Second Threshold is 180cm.Continue random walk (step S 1) behind robot the first collision obstacle, when the robot collision obstacle second time, robot calculate this first time, for the second time the air line distance between collision between 30～180cm, if do not exist, then robot will continue random walk.When robot for the third time during collision obstacle, control module 5 continues to calculate for the second time, the air line distance between the collision for the third time.Especially, when robot detects in the scope of air line distance at 30～180cm between double collision (step S2), control module 5 is just judged and has been entered the zonule, thereby starts the zonule sweeper mode; Otherwise robot continues random walk, until satisfy the condition that starts this zonule sweeper mode.
After the zonule sweeper mode started, robot just began to carry out the zonule cleaning works, and robot cleans this zone according to the walking path of setting specifically, such as arc type, Z-shaped, W type etc. are to guarantee to be swept into the edge of corner or metope/barrier.For example, with the cleaning path of arc type as setting, the process of cleaning zonule is as follows: set up the coordinate axis X-axis with the straight line of the double collision of robot, the control module control deflects towards corresponding coordinate axis Y direction, along the metope that collides for the second time/common barrier welt cleaning, the distance of welt cleaning is approximately 2/3 of robot width, then straight line returns the metope of for the first time collision/common barrier welt cleaning, so repeat the action of a welt-straight line-welt, as shown in Figure 4, the path of its arc type cleaning is divided into straight-line segment and welt section.Path according to Fig. 4, robot at first is that (step S21) cleaned in the territory, the first lateral areas on X-axis right side towards the bottom, corner, the straight-line segment distance constantly reduces, then, judge whether robot arrives at the bottom in territory, the first lateral areas (step S22), as when straight-line segment distance during less than or equal to first threshold 30cm, the control module judgement has arrived bottom, territory, the first lateral areas, corner, so withdraw from this territory, lateral areas of having cleaned, then (step S23) cleaned in the territory, the second lateral areas that begins to carry out in the opposite direction the arc type cleaning and be the X-axis left side, until be swept into the bottom of opposite side, judge afterwards more whether robot arrives at the bottom in territory, the second lateral areas (step S24), as when judging that the straight-line segment distance is less than or equal to first threshold 30cm, thereby finish the cleaning in territory, the second lateral areas.At this moment, whole zonule cleaning finishes.Need to prove, in Fig. 4, when arc type cleans reverse the second side cleaning, barrier of metope is only arranged, when recording straight-line segment distance and reached Second Threshold 180cm, the edge that the robot acquiescence has been collided another barrier namely collides virtual obstacles, and control module carries out virtual welt walking, that is to say that the straight-line segment distance can not surpass Second Threshold 180cm, at least one end of this straight-line segment and metope/barrier intersect.In addition, robot also can judge whether to arrive at by alternate manner the bottom of zonule among the step S24, senses simultaneously obstacle signal such as the distance of welt section less than 2/3 or the obstacle sensor that is arranged on the robot both sides of robot body width; When perhaps robot rotates to an angle and spends such as 150, again respond to obstacle signal; After perhaps rotating to an angle, machine center horizontal ordinate or ordinate remain unchanged or change very little.
Robot always cleans first territory, a lateral areas, and then oppositely cleaning is regional for the second time, such as Fig. 4.When robot is first when judging that distance between twice collision is between first threshold and Second Threshold, twice point of impingement a1 of robot records (x1, y1) and a2 (x2, y2) also set up the system of axis with a1a2 place straight line.When setting up the x axle with a1a2 place straight line, constantly increase or constantly reduce by the Y coordinate, judge that robot is all the time towards the first side or the cleaning of territory, the second lateral areas.Like this, robot just can arrive at two corners in room and finish the zonule cleaning.
After the zonule cleaning is finished, the control module control is along metope/barrier welt walking (step S241), when recording the short lines distance of robot apart from the zonule and reach the 3rd threshold value such as 100cm (step S242), judge that robot has withdrawed from this zonule, the control module control begins random walk.The path is cleaned as shown in Figure 4 in complete zonule, and A indication route is the cleaning of territory, reverse side the second lateral areas for territory, the first lateral areas, the front cleaning of beginning, B indication route, and C indication route is that welt cleans.
Embodiment two
Shown in Fig. 5-6, the invention provides another kind of control method from the cleaning of moving land disposal robot zonule.
After the same opening power, robot begins random walk (step S0) in the room, continue random walk (step S1) behind the robot collision obstacle, in the scope of the air line distance that records double collision at 30～180cm (step S2), control module just judgement has entered the zonule, starts the zonule sweeper mode.
After this pattern started, robot just began to carry out the zonule cleaning works, suppose or cleaned according to the path of arc type.Robot first cleans (step S21 ') towards a side, and in the scope of straight-line segment distance at 30～180cm of judging the arc type walking, the control module control walks on; When judging that walking straight-line segment distance is not in this scope (step S25), the control module control withdraws from this territory, lateral areas, then begins in the opposite direction territory, the second lateral areas and carries out arc type cleaning (step S23 ').Identical among the described arc type walking manner of present embodiment and the embodiment one.
When the straight-line segment distance that records arc type walking is not in the scope at 30～180cm (step S27), two kinds of situations are arranged: when judging the straight-line segment distance more than or equal to Second Threshold 180cm (step 271), the control module control begins random walk, as shown in Figure 6, A indication route is the front cleaning of beginning, B indication route is the reverse side cleaning, and C indication route is at random cleaning; When distance during less than or equal to first threshold 30cm, judge the bottom that has reached the zonule, robot finishes the zonule cleaning works, the control module control withdraws from this zonule, the control module control is along walk along metope/barrier welt (step S272) specifically, when recording robot and reach the 3rd threshold value such as 100cm apart from the short lines distance of zonule by coordinate axis relation (step S273), the control module control begins random walk.
In above-described embodiment, first threshold, Second Threshold, that the 3rd threshold value is equal is relevant with walking path with the size of robot itself, and the user can revise according to demand voluntarily.As the zonule of wishing the robot cleaning is large or smaller more again, can correspondingly increase or reduce Second Threshold; When and for example machine dimensions itself is larger, corresponding first threshold and the 3rd threshold value of increasing.In addition, except the described self-movement robot of above-described embodiment has the cleaning function, this self-movement robot can also be waxing robot, by the Wax polishing device (being functional part) that stretches out outside the robot, so that self-movement robot is when welt moves, also can be waxed in the ground of welt, the Wax polishing device of this sidepiece can be fixedly to stretch out in the robot outside, also can be flexible shape.Described in the present invention from moving land disposal robot, can be according to the function needs of reality, in the floor treatment robot, be provided with different functional parts, such as: cleaning unit, waxing unit, polishing unit etc., thereby the needs that realization is processed the ground different operating.
Claims (10)
1. the control method from the moving land disposal robot cleaning is characterized in that, specifically comprises the steps:
Step S0: robot random walk;
Step S1: continue random walk behind the robot collision obstacle;
Step S2: control module is judged in the scope of straight-line segment distance between first threshold and Second Threshold of double collision, is begun to carry out the zonule cleaning; Otherwise, return step S0.
2. control method as claimed in claim 1 is characterized in that, the medium and small regional cleaning of described step S2 specifically comprises following steps:
Step S21: control carries out cleaning towards territory, the first lateral areas;
Step S22: judge that control enters step S23 after turning to and withdrawing from territory, the first lateral areas when arriving at the bottom in territory, the first lateral areas; Otherwise, return step S21;
Step S23: robot carries out cleaning towards reverse territory, the second lateral areas;
Step S24: judge when arriving at the bottom in territory, the second lateral areas, stop the zonule cleaning and withdraw from the zonule; Otherwise, return step S23.
3. control method as claimed in claim 2 is characterized in that, the method that withdraws from the zonule among the step S24 specifically comprises following steps:
Step S241: robot welt walking;
Step S242: when the short lines distance of judging the whole zonule of position deviation at robot place reaches the 3rd threshold value, return step S0; Otherwise, return step S241.
4. control method as claimed in claim 1 is characterized in that, the medium and small regional cleaning of described step S2 specifically comprises following steps:
Step S21 ': control carries out cleaning towards territory, the first lateral areas;
Step S25: when judging that walking straight-line segment distance is not in the scope between first threshold and Second Threshold, control enters step S23 ' after turning to and withdrawing from territory, the first lateral areas; Otherwise, return step S21 ';
Step S23 ': robot carries out cleaning towards reverse territory, the second lateral areas;
Step S27: when judging that walking straight-line segment distance is not in the scope between first threshold and Second Threshold, stop the zonule cleaning and withdraw from this zonule; Otherwise, return step S23 '.
5. control method as claimed in claim 4 is characterized in that, the method that withdraws from the zonule among the step S27 specifically comprises following steps:
Step S271: when walking straight-line segment distance during more than or equal to Second Threshold, return step S0; Otherwise, enter step S272;
Step S272: robot welt walking;
Step S273: when the short lines distance of judging the whole zonule of position deviation at robot place reaches the 3rd threshold value, return step S0; Otherwise, return step S272.
6. control method as claimed in claim 1 is characterized in that, described first threshold is 30cm, and Second Threshold is 180cm.
7. such as claim 3 or 5 described control methods, it is characterized in that described the 3rd threshold value is 100cm.
8. such as claim 2 or 4 described control methods, it is characterized in that described cleaning is the arc type cleaning, described arc type cleaning path comprises welt section and straight-line segment, and at least one end of described straight-line segment and barrier intersect.
9. control method as claimed in claim 2 is characterized in that: the walking straight-line segment distance among described step S21 or the step S23 is less than or equal to Second Threshold; Described welt segment distance is 2/3 of robot width; Judge among described step S22 or the step S24 that the actual conditions that robot arrives at the bottom, zone is: robot welt travel distance is less than 2/3 of robot width, perhaps robot ambulation straight-line segment distance is less than Second Threshold, perhaps collision obstacle behind the robot rotation predetermined angular.
10. one kind from moving land disposal robot, and described robot comprises: functional part, walking unit, driver element, obstacle sensor, control module;
Whether front end or side that described obstacle sensor is used for sniffing robot have barrier, and with the information conveyance that detects to described control module;
Described control module is connected with driver element with described functional part respectively, driver element is connected with described walking unit, described driver element is accepted the instruction of control module, drive described walking unit by predetermined route walking, described functional part is accepted the instruction of control module and is carried out floor treatment by predetermined mode of operation;
It is characterized in that described robot also comprises the plate that hits that is positioned at described robot ambulation direction end, be provided with described obstacle sensor hitting plate; Described control module is controlled described functional part, driver element work by each described method of claim 1 to 9.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210108722.XA CN103376801B (en) | 2012-04-13 | 2012-04-13 | From moving land disposal robot and the control method of cleaning thereof |
| JP2015504849A JP6549033B2 (en) | 2012-04-13 | 2013-03-29 | Autonomous mobile ground processing robot and control method of its cleaning work |
| PCT/CN2013/073425 WO2013152675A1 (en) | 2012-04-13 | 2013-03-29 | Self-moving ground treatment robot and cleaning work control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210108722.XA CN103376801B (en) | 2012-04-13 | 2012-04-13 | From moving land disposal robot and the control method of cleaning thereof |
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| Publication Number | Publication Date |
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| CN103376801A true CN103376801A (en) | 2013-10-30 |
| CN103376801B CN103376801B (en) | 2016-08-03 |
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| CN201210108722.XA Active CN103376801B (en) | 2012-04-13 | 2012-04-13 | From moving land disposal robot and the control method of cleaning thereof |
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| Country | Link |
|---|---|
| JP (1) | JP6549033B2 (en) |
| CN (1) | CN103376801B (en) |
| WO (1) | WO2013152675A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2015513161A (en) | 2015-04-30 |
| WO2013152675A1 (en) | 2013-10-17 |
| CN103376801B (en) | 2016-08-03 |
| JP6549033B2 (en) | 2019-07-24 |
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