CN103941306B - Cleaning robot and method for controlling same to avoid obstacle - Google Patents
Cleaning robot and method for controlling same to avoid obstacle Download PDFInfo
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- CN103941306B CN103941306B CN201410184795.6A CN201410184795A CN103941306B CN 103941306 B CN103941306 B CN 103941306B CN 201410184795 A CN201410184795 A CN 201410184795A CN 103941306 B CN103941306 B CN 103941306B
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Abstract
The invention relates to a cleaning robot which comprises at least one group of light transmitting and receiving assemblies. Each group of light transmitting and receiving assemblies comprise a light transmitting unit with a light transmitter and a light receiving unit with two light receivers. The two light receivers can receive light beams with large light beam angle and small light beam angle. A light transmitting area that the light transmitter corresponds to and two light receiving areas that the two light receivers correspond to are partially overlapped. Due to the fact that a first light receiver and a second light receiver for receiving the light beams with different light beam angles are arranged in each light transmitting and receiving assembly, the light receiving efficiency of the light receiving unit is higher when the light receiving unit receives reflection light from the obstacle, and the two light receivers are not affected by the surface material and the shape of the obstacle when judging whether a robot main body approaches the obstacle, so that the cleaning robot can achieve cleaning well even if the cleaning robot is located on the peripheral area of the obstacle when conducting the cleaning work.
Description
Technical field
The present invention relates to a kind of clean robot and its control method.
Background technology
Clean robot is a kind of full intelligent cleaning device, and this device passes through clear in the case of being controlled by the user
On clean cleaning region, autonomous are cleaned remaining cleaning.Because clean robot automatically moves, therefore
The barriers such as wall, furniture can be run into unavoidably in moving process.After robot is collided with barrier, machine
The moving direction of people will change, and this change is difficult to control, and therefore, clean robot in prior art is all provided with
It is equipped with barrier sensing module, clean robot few sending out with barrier as far as possible is enabled to by thing sensing module of placing obstacles
Raw collision.
At present, the operation principle of the barrier sensing module on clean robot is by sensor emission light, ultrasound wave
Deng, and the detection light of return or ultrasound wave after being reflected by barrier in the form of detection signal.Between detection signal
The time difference, phase contrast or intensity difference, obstacle sensor discern whether to exist barrier and from sensor to barrier away from
From.Obstacle sensor can reflection angle based on reflected light or ultrasound wave come distinguish from sensor to barrier away from
From.The drawbacks of existed using the sensing module emitting light to detection barrier is: when blocking surfaces are not flat surface or light
During the different blocking surfaces of absorbance, the time that barrier sensing module is able to detect that can be different, so may result in machine
Device people has apart from the distance of barrier when executing avoiding obstacles instruction and far has closely, so that robot can not complete to unify
Cleanliness standard.Detect that using ultrasound wave the sensing module of barrier the drawbacks of presence is: acoustic emission needs certain sweeping
Retouch the time, based on this reason, may result in robot and directly collide with barrier.
Content of the invention
For above-mentioned technical deficiency, first goal of the invention of the present invention is to provide a kind of barrier to sense efficiency high
Clean robot.
Second goal of the invention of the present invention be provide a kind of for control the clean robot in the first invention mesh avoid hinder
The method hindering thing.
In order to reach the first above-mentioned goal of the invention, the present invention adopts the following technical scheme that
A kind of clean robot, including robot body, drives described robot body to move in region to be cleaned
And/or rotate drive module, be arranged on described robot body go up and the cleaning region described in being used to detect in whether
There is the barrier sensing module of barrier, controlling the main control module of described drive module work, described barrier senses
Module includes least one set light transceiver module, and the light transceiver module described in each group includes:
Optical Transmit Unit, including the optical transmitting set being provided with light source, described optical transmitting set has the first axial line can
Produce the light beam with the first beam angle, described optical transmitting set correspondence has light emitting area；
Light receiving unit, including being provided with the first optical receiver of the first light-sensitive element and be provided with the second of the second light-sensitive element
Optical receiver, the first described optical receiver and the second optical receiver are used to receive the light beam that described optical transmitting set sends and exist
Run into the reflected light after blocking surfaces, the first described optical receiver and the second optical receiver all with described main control module phase
The reflected light signal that signal connection, the first described optical receiver and the second optical receiver can be respectively received transmits in real time
To described main control module, the first described optical receiver has the second axial line and can receive the light with the second beam angle
Bundle, the second described optical receiver has the 3rd axial line and can receive the light beam with the 3rd beam angle or receive carefully parallel
Light beam, the angle of described the 3rd beam angle is less than the angle of the second described beam angle, the angle of described the 3rd beam angle
Less than the angle of the first described beam angle, the first described optical receiver correspondence has the first optical receiving region, and described the
Two optical receiver correspondences have the second optical receiving region；
Described light emitting area has subregion to overlap with the first described optical receiving region, described light launch site
Domain has subregion to overlap with the second described optical receiving region, the first described axial line and the 3rd described axial line phase
Hand over and form the first joining, the first described joining is located at described light emitting area and the first described optical receiving region phase
In overlapping region.
It is preferred that the first described axial line and the second described axial line are crossed to form second in technique scheme
Joining, the first described joining is to the distance of the described robot body machine extremely described more than the second described joining
The distance of device human agent.
It is preferred that the first described beam angle is the angle more than or equal to 50 ° in technique scheme.
It is preferred that the second described beam angle is the angle more than or equal to 50 ° in technique scheme.
It is preferred that the 3rd described beam angle is more than 0 ° of angle less than or equal to 15 ° in technique scheme.
It is preferred that the first described axial line is launched with this group light with the second described axial line in technique scheme
The centrage of receiving unit is that axis of symmetry is symmetrical.
It is preferred that the first described optical receiver and the second optical receiver are disposed adjacent in technique scheme, described
Second axial line is generally parallel with the 3rd described axial line.
It is preferred that described optical transmitting set has a first support for installing light source, institute in technique scheme
The first optical receiver stated have one for install the first light-sensitive element second support, the second described optical receiver has
One is used for installing the 3rd support of the second light-sensitive element, and described first support, second support, the 3rd support are wholely set.
In order to reach the second above-mentioned goal of the invention, it is above-mentioned clear that the present invention adopts the following technical scheme that one kind is used for controlling
The method of clean robot avoiding obstacles, the method comprises the steps:
Constantly can detection receive reflected light signal for the first described optical receiver and the second optical receiver, if receiving
It is real-time transmitted to described main control module to the transmitting optical signal that reflected light signal is then received
When described main control module can receive by the reflection of the first described optical receiver transmission in setting time
When optical signal can receive the reflected light signal by the second optical receiver transmission again, described main control module starts to judge to connect every time
Receive the magnitude relationship of the intensity of reflected light by the second optical receiver transmission, transmitted by the second optical receiver as this receives
Intensity of reflected light is less than last receiving by the intensity of reflected light of the second optical receiver transmission, then described master control module controls
Drive module executes the instruction of avoiding obstacles.
It is preferred that being provided with an intensity threshold in described main control module, when described master control in technique scheme
Module receives when being more than or equal to described intensity threshold by the intensity of reflected light of the first described optical receiver transmission, described
The drive module described in master control module controls reduce robot in the case of not changing current machine human agent's direction of advance
The pace of main body.
The beneficial effects of the present invention is: can be received by setting in each group light transceiver module and there are different light beams
First optical receiver of angle light beam and the second optical receiver are so that light receiving unit receives effect when receiving the reflected light of barrier
Rate is higher, and this two optical receivers, when whether judging robot body near barrier, are not subject to blocking surfaces
The impact of material and shape so that clean robot when being cleaned work can, even if also can in the neighboring area of barrier
Realize cleaning well.
Brief description
Shown embodiment is described in detail below to this utility model below in conjunction with the accompanying drawings:
Accompanying drawing 1 is the schematic diagram of the clean robot of the present invention；
Accompanying drawing 2 is the structural representation of the light transceiver module of the present invention；
Accompanying drawing 3 is the fundamental diagram of the light transceiver module of the present invention；
Accompanying drawing 4 is the intensity of reflected light and barrier and robot that first optical receiver of the present invention operationally receives
The relation of distance between body；
Accompanying drawing 5 is the intensity of reflected light and barrier and robot that second optical receiver of the present invention operationally receives
The relation of distance between body；
Accompanying drawing 6 is the schematic diagram of the light transceiver module of another embodiment of the present invention；
Wherein: 1, robot body；2nd, input/output module；3rd, light transceiver module；4th, Optical Transmit Unit；5th, light
Receiving unit；41st, optical transmitting set；411st, light source；412nd, first support；413rd, the first axial line；51st, the first optical receiver；
511st, the first light-sensitive element；512nd, second support；513rd, the second axial line；52nd, the second optical receiver；521st, second photosensitive yuan
Part；522nd, the 3rd support；523rd, the 3rd axial line.
Specific embodiment
Shown embodiment is described in detail below to this utility model below in conjunction with the accompanying drawings:
Clean robot as shown in Fig. 1, this clean robot is a kind of clean robot for floor suction,
It is advanced in region to be cleaned simultaneously miscellaneous by the ground suction from cleaning region in the case of not needing user's real-time control
Matter (for example, dust) carrys out the device in automated cleaning region to be cleaned.This clean robot includes robot body 1, cradle (figure
Not shown in), remote control (not shown) etc..
Robot body 1 is provided with the cleaning module (not shown) for cleaning space to be cleaned, is used for making robot master
The drive module (not shown) that body 1 moves and/or rotates, receives the operational order for clean robot and shows with regard to cleaning
The input/output module 2 of robot manipulation's information, is located at the barrier sensing module of clean space barrier for sensing, uses
In the data storage module (not shown) storing various data, for the power module (not shown) powered to robot body,
For controlling the main control module (not shown) of robot body.Wherein, before barrier sensing module is installed to robot body 1
Side (when watching along the direct of travel of clean robot), input/output module 2 is arranged on the top of robot body 1.
Cleaning module generally includes: main brush unit, cleans the dust being present on ground, the dust of cleaning is directed to
Suction inlet；Side brush unit, cleaning is near the region of wall and corner regions.Main brush unit may be installed and is formed at robot body
Opening (i.e. suction port) place of lower bottom part, to clean the dust accumulating on the ground of robot body present position.Opening one
As be arranged on the first half of robot body's lower bottom part.Opening can be used as sucking the dust inlet of dust.Cleaning module is also
Including the vacuum source unit being arranged in robot body, to produce suction.Vacuum source unit is used for making being introduced in dust and
The dust of mouth moves in the dust-collecting box within robot body.
Drive module generally includes a pair of travel wheel and castor, so that robot body is moved according to traveling control signal；Foot
Wheel can rotate, for changing direction of advance, the attitude simultaneously keeping stable in robot body.A pair of travel wheel can be according to right
At the both sides of bottom that the mode claiming medially is arranged in robot body.A pair of travel wheel can be in the master of clean robot
The lower execution that controls of control module includes motor performance that is mobile and rotating.Castor may be installed the front of robot body's lower bottom part
Edge portion.
Input/output module 2 is arranged on the top of robot body.Input/output module 2 includes: multiple operation buttons,
It is used for the operational order of clean robot by user input；Display floater, shows the information of the operation with regard to clean robot,
For example, the information that whether operates with regard to clean robot, the information etc. with regard to traveling mode.
Barrier sensing module includes multigroup smooth transceiver module 3, and these light transceiver modules 3 are uniformly distributed installation
On the periphery wall of the first half of robot body 1, (forward and backward position herein is to be come with the direct of travel of clean robot
Distinguish, robot body clean move in region when, move from back to front all the time, referenced below forward and backward equidirectional with
This is identical), each group light transceiver module 3 is respectively provided with a detecting area comprising obstacle detection direction and detection range
Domain.The detection direction of light transceiver module 3 be a bit directed towards robot body 1 dead ahead, some be directed towards robot master
The left front of body or left side, some right fronts being directed towards robot body 1 or right side, detection range is light transceiver module
The far and near distance that can detect.When installing multigroup smooth transceiver module 3 it is ensured that the barrier of these light transceiver modules 3
Thing search coverage is hindered can at least to cover the region corresponding to first half of robot body 1.Light transceiver module 3 can be each
From obstacle detection region in discover whether with the presence of barrier, thus for main control module control robot body 1 execution keep away
Opening barrier command provides foundation.Following concrete structures that will be described in each group light transceiver module 3.
One group of light transceiver module 3 as shown in Figure 2, it is by Optical Transmit Unit 4 and this two parts structure of light receiving unit 5
Become.Optical Transmit Unit 4 has an optical transmitting set 41, this optical transmitting set 41 include light source 411, for light source 411 is installed the
One support 412.First support 412 is except for installing in addition to light source 411 also, having and limiting light source 411 beam emitted simultaneously
Beam angle acts on.Light source 411 can select light emitting diode (led).May include invisible infrared ray from the light of light source 411 transmitting
Light, visible ray etc..Light receiving unit 5 has two optical receivers, i.e. the first optical receiver 51 and the second optical receiver 52, and first
Optical receiver 51 and the second optical receiver 52 are all used for receiving the light beam that above-mentioned optical transmitting set 41 sends and are running into barrier table
Reflected light behind face.First optical receiver 51 includes the first light-sensitive element 511, is used for installing the second of the first light-sensitive element 511
Support 512.Second optical receiver 52 includes the second light-sensitive element 521, the 3rd support for installing the second light-sensitive element 521
522.First light-sensitive element 511 and the second light-sensitive element 521 can be using photoconductive resistance, light sensitive diode or phototriodes.The
One optical receiver 51 and the second optical receiver 52 are disposed adjacent.In this embodiment, in order to reduce the quantity of parts, first support
412nd, second support 512, the 3rd support 522 are wholely set.
As shown in figure 3, optical transmitting set 41 has the first axial line 413 and can send the light beam with the first beam angle α,
α angle is the angle more than or equal to 50 °, and the first axial line 413 herein is the axial line of optical system, and that is, optical transmitting set 41 sends
The optical axis of light beam or centrage, the light beam that optical transmitting set 41 sends rotates around this first axial line 413, does not have any optical characteristics
Change (following the second axial lines referring to, the 3rd axial line with the first axial line same meaning) herein.Optical transmitting set 41
Corresponding first axial line 413 and the first beam angle α have light emitting area s1, and this region s1 is a wide emitting area.First light
Receptor 51 has the second axial line 513 and can receive the light beam with the second light beam angle beta, and β angle is more than or equal to 50 °
Angle, corresponding second axial line 513 of the first optical receiver 51 and the second light beam angle beta have the first optical receiving region s2, this first light
Receiving area s2 is also a wide receiving area.Second optical receiver 52 has the 3rd axial line 523 and can receive and have the 3rd
The light beam of beam angle γ, γ angle is the angle more than 0 ° less than or equal to 15 °, and the second optical receiver 52 corresponds to the 3rd axial line 523 He
3rd beam angle γ has the second optical receiving region s3, and this region s3 is a narrow receiving area with respect to region s1 and region s2.
Second axial line 513 of the first optical receiver 51 is generally parallel with the 3rd axial line 523 of the second optical receiver 52.First axle
Heart line 413 and the second axial line 513 are with the centrage p of this group light transceiver module1Symmetrical for axis of symmetry.Optical transmitting set
41 light emitting area s1 has subregion to overlap with the first optical receiving region s2 of the first optical receiver 51, optical transmitting set 41
Light emitting area s1 and the second optical receiving region s3 of the second optical receiver 52 have subregion to overlap.Optical transmitting set 41
Second axial line 513 of the first axial line 413 and the first optical receiver 51 is crossed to form the second joining o2, the first axial line
413 and the 3rd axial line 523 be crossed to form the first joining o1, the first joining o1Connect with the first light positioned at light emitting area s1
Receive in the equitant region of region s1, and the first joining o1Distance to robot body 1 is more than the second joining o2To machine
The distance of device human agent 1.
The work process of above-mentioned smooth transceiver module 3 be described below: robot body 1 is in cleaning region to front
Movement is cleaned work, and optical transmitting set 41 constantly launches light beam along its light direction of the launch.When optical transmitting set 41 is launched in this light
When barrier in the corresponding search coverage of receiving unit 3, the light beam that optical transmitting set 41 is launched runs into blocking surfaces and sends out
Raw reflection (or diffuse-reflectance) forms reflected light, and these launching lights are once enter the first optical receiving region s2, the second optical receiving region
When in s3, just will be received by the first optical receiver 51 and the second optical receiver 52.Due to the 51 of the first optical receiver first
Optical receiving region s2 is wider than the 52 of the second optical receiver the second optical receiving region s3, and therefore under normal circumstances, the first light connects
Receive device 51 and will be firstly received the signal of reflected light, and with robot body 1 the closer to barrier, the first optical receiver 51
The intensity of the reflected light receiving will be stronger.Simultaneously, will have during barrier with robot body 1
Reflected light enters in the second optical receiving region s3, and this enters the second optical receiving region s3 reflected light will be by the second optical receiver 52
Receive, because the second optical receiving region s3 is a narrow receiving area, so when starting, the second optical receiver 52 receives instead
The intensity penetrating light is relatively low, with obstacle distance robot body 1 more and more closely until barrier is with respect to robot body's 1
Position reaches the first joining o1During place, the intensity of the reflected light that the second optical receiver 52 receives reaches the most by force, and in obstacle
Thing is to cross the first joining o with respect to the position of robot body 11During place, start to weaken.
The intensity of reflected light random device human body that first and second optical receiver as shown in Figure 4,5 receives is apart from barrier
The far and near and relation that changes.In figure shows the barrier of three kinds of different outer surface colors after running into same transmitting light beam, the
The intensity of reflected light that one optical receiver and the second optical receiver can receive.Because black surface is higher to the absorbance of light,
Lycoperdon polymorphum Vitt is taken second place, and white is minimum, and in the case of therefore three kinds, optical receiver receives intensity of reflected light and all differs, but passes through in figure
Change curve can be seen that its total Changing Pattern is roughly the same.The first optical receiver 51 shown in Fig. 4 receives
The relation that intensity of reflected light random device human agent 1 changes apart from the distance of barrier, in robot body 1 and barrier
Distance less and less during, intensity of reflected light that the first optical receiver 51 can receive is persistently to strengthen first, works as barrier
Thing is hindered to be to reach o at the second joining mentioned above with respect to the position of robot body 12When, the first optical receiver 51 connects
The intensity of reflected light received reaches the most by force, and then nearer apart from barrier with robot body 1, intensity of reflected light will gradually subtract again
Weak.Fig. 5 is illustrated that the intensity of reflected light change curve that the second optical receiver 52 receives, and it is connect with the first light in accompanying drawing 4
Receive device 51 to work under same working environment, that is, the barrier being also three kinds of different outer surface colors is running into same launching light
Shu Hou, the intensity of reflected light that the second optical receiver 52 can receive, less and less with the distance of barrier in robot body 1
During, the intensity of reflected light that the second optical receiver 52 can receive is also persistently enhanced at the beginning, when barrier phase
Position for robot body 1 is to reach the first joining o mentioned above1During place, it is anti-that the second optical receiver 52 receives
Penetrate light intensity and reach maximum.Then crossing the first joining o1Afterwards,, the reflected light nearer apart from barrier with robot body 1
Intensity gradually weakens again.
Based on above-mentioned analysis, robot body 1 in the moving process of barrier, the first optical receiver 51 and the
The intensity of reflected light that two optical receiver 52 receives is all first to increase then to reduce.The reflective light intensity that first optical receiver 51 receives
The change of the intensity of reflected light that the change of degree receives with respect to the second optical receiver 52 is more sensitive, therefore can be by master control mould
Control barrier process in block or principle design become following thought, and that is, whether the first optical receiver 51 receives reflected light is to sentence
The basis of whether necessary being barrier in the cleaning region of disconnected robot body 1, and the second optical receiver 52 is received instead
Penetrating the intensity of light needs to start to execute what barrier was avoided instructing as judging robot body 1 from increasing to the turning point of reduction
Key condition.
In robot body 1 towards during advance near barrier, the first optical receiver 51 generally connects than the second light
Receive device 52 and more first receive reflected light, due to the second joining o2Than the first joining o1Apart from robot body 1 closer to, thus
In robot body 1 during barrier, the second optical receiver 52 receive intensity of reflected light occur first peak value and
Weaken (i.e. Strength Changes are more sensitive), and this peak value with weaken corresponding robot body 1 relative with barrier away from
From changing with the material change of blocking surfaces, it is the position more fixed.Also therefore, by barrier with respect to machine
The position of device human agent 1 is to have reached " the first joining o1" place is arranged to robot body needs to execute avoiding obstacles
The condition of instruction, so that robot body 1 can advance to the direction away from barrier.I.e. in robot body 1 near obstacle
In the moving process of thing, (cross " the first joining when the intensity of reflected light that the second optical receiver 52 receives starts to weaken
o1"), robot body 1 starts to execute the instruction of avoiding obstacles.
Judging whether intensity of reflected light starts to weaken is to compare, by continuous, the reflective light intensity that the second optical receiver receives
Come to realize, (intensity of reflected light herein is usually anti-in certain period of time to the intensity of reflected light obtaining when this to the size of degree
Penetrate the meansigma methodss of light intensity, similarly hereinafter) record than last time intensity of reflected light low when then it is assumed that starting to weaken.The machine of the present embodiment
Device human agent 1 is not affected by blocking surfaces material in avoiding obstacles, as long as by setting " the first joining o1"
Relative position, you can accurately control robot body to be cleaned in how far region around barrier.
The method that be used for control the clean robot avoiding obstacles of the present embodiment is described below, the method is used for machine
Device people avoiding obstacles in operation process, in the method, in barrier sensing module, each group light transceiver module 3 is simultaneously
Work, any one group of transceiver module 3 can provide the foundation of execution avoiding obstacles instruction for main control module.Tie below
Close one group of transceiver module 3 therein and the elaboration that cooperates to of main control module is used for controlling clean robot to avoid obstacle
The method of thing, the method is specific as follows:
In the moving process of robot body 1, optical transmitting set 41 constantly launches light beam, the first light along its light direction of the launch
Receptor 51 and the second optical receiver 52 are in running order all the time and be real-time transmitted to the intensity of reflected light receiving signal
Main control module.When main control module receives the intensity of reflected light signal being transmitted by the first optical receiver 51, you can judge machine
There is barrier in device human agent 1 in the search coverage positioned at this transceiver module 3, now main control module can receive by
Can it receive and passed by the second optical receiver 52 to continue monitoring under the basis of reflected light signal that first optical receiver 51 sends
The reflected light signal sending, such as in setting time, (this setting time is the time setting in main control module to main control module, only passes through
The test of this setting time, just can be shown that main control module can continue, stable receive by first and second optical receiver transmission anti-
Penetrate light intensity signal) reflected light signal being transmitted by the first optical receiver 51 can be received can receive by the second light-receiving again
During the reflected light signal of device 52 transmission, main control module starts to judge to receive every time the reflected light being transmitted by the second optical receiver 52
Intensity magnitude relationship.As main control module, this receives and is less than the last time by the intensity of reflected light that the second optical receiver 52 transmits
(position that i.e. barrier is equivalent to robot body 1 is to receive the intensity of reflected light being transmitted by the second optical receiver 52
Cross the position of " the first joining "), then main control module sends the instruction of execution avoiding obstacles, drive module to drive module
Robot body 1 is controlled to move to the direction away from barrier.
Above-mentioned main control module, during controlling robot body's avoiding obstacles, determines that can main control module receive
It is to judge that robot body 1 accepts the spy of assembly 3 in current this light transmitting by the reflected light signal that the first optical receiver 51 transmits
Survey on region the whether basis with the presence of barrier, if receiving the reflected light signal being transmitted by the first optical receiver 51, then
Show that robot body 1 certainly exists barrier on the detection direction that current this light transmitting accepts assembly 3, also only pass through this
Step, is just avoided that robot body 1 execution avoiding obstacles instruction by mistake during advancing.Main control module can receive by
In the case of the reflected light signal of the first optical receiver 51 transmission, then start to judge to receive every time to be passed by the second optical receiver 52
The magnitude relationship of the intensity of reflected light sent, such as this receives and is less than upper one by the intensity of reflected light that the second optical receiver 52 transmits
Secondary receive the intensity of reflected light being transmitted by the second optical receiver 52, that is, receive the reflection being received by the second optical receiver 52
Light intensity starts to weaken, then show that barrier is to have passed over the first joining o with respect to the position of robot body 11Position
Put, now robot phase main body 1 must be immediately performed the instruction of avoiding obstacles, that is, change current moving direction to prevent machine
Human agent 1 and barrier collide.
In clean robot barrier sensing module in this embodiment, due to equal in each group of light transceiver module 3
Employ two optical receivers that can receive different beam angle light beams, so when using, no matter the Facing material of barrier with
And shape is how different, the barrier that light transceiver module 3 all can accurately sense, and because obstacle is avoided in last execution
The instruction of thing is to be based on to detect whether intensity of reflected light is in reducing tendency, rather than specific intensity reflected light values, therefore, should
, when running into the blocking surfaces with unlike material, it is with barrier during its execution avoiding obstacles instruction for clean robot
Apart from essentially identical so that this clean robot can execution cleaning in barrier proximity without
Collide with barrier.
In addition, so that robot body 1 can be in the instruction with time enough execution avoiding obstacles, master control mould
It is provided with an intensity threshold in block, be more than etc. when main control module receives the intensity of reflected light being transmitted by the first optical receiver 51
When this intensity threshold, master control module controls drive module reduces robot master in the case of not changing current direction of advance
The pace of body 1.This step can avoid robot to have little time due to effect of inertia to complete execution on the horizon to avoid
Barrier command.Because this intensity threshold is a concrete numerical value, therefore robot body 1 runs into Facing material difference (mainly
That absorptivity is different) barrier when, when executing reduction of speed instruction, it is also different apart from the distance of barrier.
It is also possible to the second optical receiver 52 is selected the optical receiver being to receive thin collimated light beam in above-described embodiment
To substitute, the schematic diagram of the light transceiver module 3 of another embodiment as shown in Figure 6；Second selecting in this embodiment
Optical receiver 52 ' is the optical receiver that can receive thin collimated light beam, forms the second narrower optical receiving region s3 ', the second light
Receptor 52 ' can achieve the effect that, its control method essentially identical with the effect of the second optical receiver 52 in above-described embodiment
Also substantially similar, will not be described here.Therefore, the clean robot of the present invention passes through the barrier sense that assembling has said structure
Survey module, clean robot can sense barrier situation nearby.Clean robot can be tied the sensing based on barrier sensing module
Fruit, to judge the distance of clean robot and barrier, is that clean robot judges that being carried out avoiding obstacles instruction is also to continue with
Execution provides foundation to the clean operation in described region.
Above-described embodiment only technology design to illustrate the invention and feature, its object is to allow person skilled in the art
Scholar will appreciate that present disclosure and implements according to this, can not be limited the scope of the invention with this.All according to the present invention
Equivalence changes or modification that spirit is made, all should be included within the scope of the present invention.
Claims (10)
1. a kind of clean robot, including robot body, drive described robot body in region to be cleaned mobile with/
Or rotate drive module, be arranged on described robot body and go up and be used in detection cleaning region with the presence or absence of barrier
Barrier sensing module, control described drive module work main control module it is characterised in that: described barrier sensing
Module includes least one set light transceiver module, and the light transceiver module described in each group includes:
Optical Transmit Unit, including the optical transmitting set being provided with light source, described optical transmitting set has the first axial line and can produce
There is the light beam of the first beam angle, described optical transmitting set correspondence has light emitting area；
Light receiving unit, connects including the first optical receiver being provided with the first light-sensitive element and the second light being provided with the second light-sensitive element
Receive device, the first described optical receiver and the second optical receiver are used to receive the light beam that described optical transmitting set sends and are running into
Reflected light after blocking surfaces, the first described optical receiver and the second optical receiver all with described main control module phase signals
The reflected light signal that connection, the first described optical receiver and the second optical receiver can be respectively received is real-time transmitted to institute
The main control module stated, the first described optical receiver has the second axial line and can receive the light beam with the second beam angle,
The second described optical receiver has the 3rd axial line and can receive the light beam with the 3rd beam angle or receive thin directional light
Bundle, the angle of the 3rd described beam angle is less than the angle of the second described beam angle, and the angle of the 3rd described beam angle is little
In the angle of the first described beam angle, the first described optical receiver correspondence has the first optical receiving region, and described second
Optical receiver correspondence has the second optical receiving region；
Described light emitting area has subregion to overlap with the first described optical receiving region, described light emitting area with
The second described optical receiving region has subregion to overlap, and the first described axial line intersects shape with the 3rd described axial line
Become the first joining, the first described joining is overlapped with the first described optical receiving region positioned at described light emitting area
Region in.
2. clean robot according to claim 1 it is characterised in that: described the first axial line and the second described axle
Heart line is crossed to form the second joining, and the distance of the extremely described robot body of the first described joining is more than described second
The distance of the extremely described robot body of joining.
3. clean robot according to claim 1 it is characterised in that: the first described beam angle is more than or equal to 50 °
Angle.
4. clean robot according to claim 1 it is characterised in that: the second described beam angle is more than or equal to 50 °
Angle.
5. clean robot according to claim 1 it is characterised in that: the 3rd described beam angle is less than or equal to more than 0 °
15 ° of angle.
6. clean robot according to claim 1 it is characterised in that: described the first axial line and the second described axle
Heart line is symmetrical for axis of symmetry with the centrage of this group light transceiver module.
7. clean robot according to claim 1 it is characterised in that: the first described optical receiver and the second light-receiving
Device is disposed adjacent, and the second described axial line is generally parallel with the 3rd described axial line.
8. clean robot according to claim 1 it is characterised in that: described optical transmitting set has one and is used for installing
The first support of light source, the first described optical receiver have one for install the first light-sensitive element second support, described
The second optical receiver have one for install the second light-sensitive element the 3rd support, described first support, second support,
3rd support is wholely set.
9. a kind of method for controlling the clean robot avoiding obstacles as described in any one in claim 1 to 8,
The method comprises the steps:
Constantly can detection receive reflected light signal for the first described optical receiver and the second optical receiver, if receiving anti-
Penetrate the transmitting optical signal that optical signal then received and be real-time transmitted to described main control module；
When described main control module can receive by the reflected light letter of the first described optical receiver transmission in setting time
When number can receive the reflected light signal by the second optical receiver transmission again, described main control module starts to judge to receive every time
By the magnitude relationship of the intensity of reflected light of the second optical receiver transmission, such as this receives by the reflection of the second optical receiver transmission
Light intensity is less than the last intensity of reflected light receiving and being transmitted by the second optical receiver, then described master control module controls drive
Module executes the instruction of avoiding obstacles.
10. the method for controlling clean robot avoiding obstacles according to claim 9 it is characterised in that: described
Main control module in be provided with an intensity threshold, when described main control module receives by described first optical receiver transmission
Intensity of reflected light when being more than or equal to described intensity threshold, the drive module described in described master control module controls is not changing
Reduce the pace of robot body in the case of becoming current machine human agent's direction of advance.
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| CN201410184795.6A CN103941306B (en) | 2014-01-13 | 2014-05-05 | Cleaning robot and method for controlling same to avoid obstacle |
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| US9919425B2 (en) * | 2015-07-01 | 2018-03-20 | Irobot Corporation | Robot navigational sensor system |
| WO2017171046A1 (en) * | 2016-03-31 | 2017-10-05 | 株式会社未来機械 | Work robot and edge detector |
| CN106200645B (en) * | 2016-08-24 | 2019-07-26 | 北京小米移动软件有限公司 | Autonomous robot, control device, and control method |
| TWI671053B (en) * | 2017-09-08 | 2019-09-11 | 智棋科技股份有限公司 | Detecting system of autonomous robot |
| CN107678038A (en) * | 2017-09-27 | 2018-02-09 | 上海有个机器人有限公司 | Robot collision-proof method, robot and storage medium |
| 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 |
| CN112424629B (en) * | 2018-06-26 | 2024-04-09 | 苏州宝时得电动工具有限公司 | Electric device using radar |
| CN111338332B (en) * | 2018-11-30 | 2022-03-18 | 宝时得科技（中国）有限公司 | Automatic walking equipment and obstacle avoidance method and device thereof |
| WO2020181772A1 (en) * | 2019-03-11 | 2020-09-17 | 江苏美的清洁电器股份有限公司 | Detection assembly, robotic vacuum cleaner, and walking floor status detection method and control method for robotic vacuum cleaner |
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