CN104536447A - Navigation method for sweeping robot - Google Patents
Navigation method for sweeping robot Download PDFInfo
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- CN104536447A CN104536447A CN201410832800.XA CN201410832800A CN104536447A CN 104536447 A CN104536447 A CN 104536447A CN 201410832800 A CN201410832800 A CN 201410832800A CN 104536447 A CN104536447 A CN 104536447A
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Abstract
The invention discloses a navigation method for a sweeping robot. The navigation method comprises the following steps that firstly, an XOY coordinate system is set up for an area to be swept; secondly, the area to be swept is swept by the sweeping robot, the distance from the sweeping robot to front obstacles is measured in real time through an ultrasonic wave by the sweeping robot to decide the locations of the obstacles, meanwhile, the moving trajectory coordinates of the sweeping robot are recorded by the sweeping robot and sent to a PC terminal through an emitter; thirdly, a sweeping robot moving trajectory plan is generated from the moving trajectory coordinates of the sweeping robot by the PC terminal; fourthly, sweeping work is conducted by the sweeping robot according to the sweeping robot moving trajectory plan generated in the third step. The working efficiency of the sweeping robot is improved and the problem of repeated sweeping work conducted by the sweeping robot can not exist through the sweeping robot moving trajectory plan set up in the first time of use.
Description
Technical field
The present invention relates to robot behavior control technology field, be specifically related to a kind of air navigation aid of sweeping robot.
Background technology
In today that science and technology is more and more flourishing, the life style of people there occurs earth-shaking change, and various high-tech is applied in the middle of daily life by people.Various Smart Home also occurs thereupon.The rhythm of life of present people is more and more faster, and pressure is also increasing, also more and more higher to the requirement of intelligent residence.
The developing direction of present Smart Home more and more departs from the core of intelligence, substantially all needs to carry out artificial control by terminal device, do not realize the self-contr ol of machine, and people carries out lacking of exchange and interdynamic, inreal intellectuality.
The complication system that usual Intelligent robot for sweeping floor is made up of travel mechanism, sensory perceptual system, control system, purging system and power-supply system five part.Sensory perceptual system generally adopts ultrasonic sensor, contact and proximity transducer, infrared ray sensor etc. to carry out the outside complicated environmental information of perception.Control system is the use by above various sensor, obtain the various signals required for robot controlling, these signals are sent to controller, undertaken storing by controller, computing, process, then send the corresponding command and make the basic machine of Intelligent robot for sweeping floor complete compulsory exercise by topworks.Under the control of these machines, robot is also constantly violated
mistake.Particularly in the method for navigation.The various problems occurred because of navigation also emerge in an endless stream: the contact air navigation aid that what 1, existing sweeping robot adopted is based on crash sensor, barrier could be there is in perception front after must colliding, this air navigation aid is easy to breakable object and collides, thus causes danger or cause damage.2, be difficult to set up globally
figure, thus reduce sweeping efficiency, namely cleaning is repeatedly repeated in some region, and other region cannot be swept into.3, some cradles are had to be heat homing and location, if family is put
thingmore, room is more, will be easy to get lost.4, use a teleswitch carry out fixed point cleaning control in can not reach accurate location.Sweeping robot can not from main separation best route, when specify cleaning certain some time, he immediately can not arrive appointed place, according to the path of oneself setting, can slowly run arrival appointed place.Have a strong impact on work efficiency.
Summary of the invention
For above-mentioned deficiency of the prior art, the invention provides a kind of air navigation aid of sweeping robot.
To achieve these goals, the technical solution used in the present invention is as follows:
An air navigation aid for sweeping robot, comprises the steps:
1) set up XOY coordinate system with region to be cleaned, and arrange sweeping robot sweep the floor rule and dodge rule, XOY coordinate origin is sweeping robot charger position;
2) make sweeping robot treat purging zone to clean, in cleaning process, sweeping robot in real time by distance between ultrasonic measurement self and preceding object thing, the position of disturbance in judgement thing, and take to dodge rule and dodge; Meanwhile, sweeping robot carries out record to its running orbit coordinate, and sends to PC terminal by transmitter;
3) PC terminal is by sweeping robot running orbit Coordinate generation sweeping robot movement locus plane
figure;
4) the sweeping robot movement locus plane that generates according to step 3) of sweeping robot
figurecarry out cleaning works.
Further, described in dodge rule comprise a left side dodge rule and the right side dodge rule, during robot ambulation for turn left, then adopt a left side dodge rule, during robot ambulation for turn right, then employing the right side dodge rule.
Further, step 2) in, sweeping robot records the running orbit coordinate of this robot by servomotor umber of pulse and driving wheel pattern displacement number scale.
Relative to prior art, the present invention has following beneficial effect:
The present invention adopt this air navigation aid to avoid some sweeping robots in the market exist because of random walk disorderly hit as absent-minded professor by
thingbreak or lost problem; The robot motion's track ground set up when being used by first time
figure, sweeping machine task efficiency can be improved.The problem that sweeping robot oneself repeats to clean can not be there is.And can base area
figureselect nearest circuit to arrive appointed place to finish the work.Because there being movement locus ground
figure, sweeping robot clearly can know the position residing for oneself, can not cause because room is more getting lost.
Accompanying drawing explanation
fig. 1for robot of the present invention cleaning trajectory plane
figure.
Embodiment
Below in conjunction with
accompanying drawingthe invention will be further described with embodiment.
An air navigation aid for sweeping robot, comprises the steps:
1) set up XOY coordinate system with region to be cleaned, XOY coordinate origin is sweeping robot charger position, when sweeping robot electricity is lower, can automatically go back charger charges.Arrange sweeping robot sweep the floor regular and dodge rule: sweeping robot cleans along region to be cleaned X-axis straight line, when running into barrier, take to dodge rule to dodge, sweeping robot first moves a fuselage distance to Y direction, then cleans along X-axis negative direction.
Make sweeping robot treat purging zone to clean, in cleaning process, sweeping robot, in real time by the distance between ultrasonic measurement self and front (sweeping robot direction of travel is front) barrier, with the position of disturbance in judgement thing, and is taked to dodge rule and is dodged.Simultaneously, sweeping robot records the running orbit coordinate of this robot by the displacement number scale of servomotor umber of pulse and driving wheel grating, and give PC terminal by transmitter by this sweeping robot movement locus, the sweeping robot movement locus plane in region to be cleaned is set up by PC terminal
figure.Sweeping robot records running orbit at any time in cleaning process, and it has been purging zone that the running orbit recorded is defaulted as, and sweeping robot no longer cleans posting field.
The motor of sweeping robot adopts servomotor, the distance can run according to servomotor umber of pulse record sweeping robot.As at a time, sweeping robot servomotor umber of pulse is 115, and driving wheel pattern displacement number is 280, then the coordinate in this this moment of sweeping robot is 115,280.
Sweeping robot, when detecting that there is barrier in front, is taked to dodge rule and is dodged, dodge rule comprise a left side dodge rule and the right side dodge rule.If meet barrier, if turn left during walking, then a left side is adopted to dodge rule; If turn right during walking, then the right side is adopted to dodge rule.Barrier continues to advance by rule of sweeping the floor after avoiding and sweeps; If clear: continue to advance by rule of sweeping the floor, till running into barrier (surrounding is had to the room of wall, the wall of surrounding is barrier concerning sweeping robot).Sweeping robot should judge whether before turning to turn for robot cleaner in enough spaces.If suction cleaner can be turned, then turn, this unidirectional cleaning is complete; If suction cleaner can not be turned, illustrate that there is barrier next unidirectional cleaning starting point, retreat, turn after avoiding obstacles, after advancing to the sideline that breaks the barriers, this unidirectional cleaning is complete again.
2) sweeping robot is according to the sweeping robot movement locus plane set up in step 1)
figurecarry out the cleaning works of repetition.
See
fig. 1: in the present embodiment, region to be cleaned is square, and surrounding is wall, and centre has a barrier.With the upper left corner of purging zone for true origin O sets up XOY plane coordinate system.Sweeping robot from the upper right corner along X-direction cleaning works, and adopt in real time the distance between ultrasound examination self and front.When sweeping robot arrives the upper left corner, region to be cleaned, robot is 90-degree rotation left, and moves a fuselage distance along Y direction; 90-degree rotation left again, and back clean along X-direction; When arriving the upper right corner, region to be cleaned, robot is 90-degree rotation to the right, and moves a fuselage distance along Y direction, then 90-degree rotation to the right, and cleans along X-direction.And so forth, until sweeping robot arrives the A point in region to be cleaned, till robot cannot move along Y direction again.Now, robot treats purging zone search, find the region of not cleaned and can hold lower robot, through search, sweeping robot searches B point and is not cleaned and can hold lower robot, then sweeping robot arrives B point with optimal route, back and forth cleans, until sweeping robot arrives D point cannot search the region do not cleaned and can hold lower robot again.
In this cleaning process, the coordinate points of sweeping robot to cleaning track carries out record, and sends to PC terminal by transmitter, is generated the sweeping robot movement locus plane in region to be cleaned by PC terminal
figure.During cleaning each time afterwards, sweeping robot is automatically along this movement locus plane
figureclean, until purging zone environment changes.
For the barrier in region to be cleaned, the regularization of non-linear irregular slalom thing, all linearly polygon process.By the barrier that wall is laid, as wardrobe, sofa etc., it can be used as wall process, and clean robot is operationally walked along this barrier edge.
When sweeping robot cleans, by the judgement of gyroscope travel direction mounted thereto.
The air navigation aid of sweeping robot of the present invention avoid that some sweeping robots in the market exist because of random walk disorderly hit as absent-minded professor by
thingbreak or lost problem.The robot motion's track ground set up when being used by first time
figure, sweeping machine task efficiency can be improved.The problem that sweeping robot oneself repeats to clean can not be there is.And can base area
figureselect nearest circuit to arrive appointed place to finish the work.Because there being movement locus ground
figure, sweeping robot clearly can know the position residing for oneself, can not cause because room is more getting lost.
Finally it should be noted that, above embodiment is only in order to illustrate technical scheme of the present invention but not restriction technologies scheme, although applicant's reference preferred embodiment is to invention has been detailed description, those of ordinary skill in the art is to be understood that, those are modified to technical scheme of the present invention or equivalent replacement, and do not depart from aim and the scope of the technical program, all should be encompassed in the middle of right of the present invention.
Claims (3)
1. an air navigation aid for sweeping robot, is characterized in that, comprises the steps:
1) set up XOY coordinate system with region to be cleaned, and arrange sweeping robot sweep the floor rule and dodge rule, XOY coordinate origin is sweeping robot charger position;
2) make sweeping robot treat purging zone to clean, in cleaning process, sweeping robot in real time by distance between ultrasonic measurement self and preceding object thing, the position of disturbance in judgement thing, and take to dodge rule and dodge; Meanwhile, sweeping robot carries out record to its running orbit coordinate, and sends to PC terminal by transmitter;
3) PC terminal is by sweeping robot running orbit Coordinate generation sweeping robot movement locus planimetric map;
4) the sweeping robot movement locus planimetric map that sweeping robot generates according to step 3) carries out cleaning works.
2. the air navigation aid of sweeping robot according to claim 1, is characterized in that, described in dodge rule comprise a left side dodge rule and the right side dodge rule, for turning left during robot ambulation, then adopting a left side to dodge rule, for turning right during robot ambulation, then adopting the right side to dodge rule.
3. the air navigation aid of sweeping robot according to claim 1, is characterized in that, step 2) in, sweeping robot records the running orbit coordinate of this robot by servomotor umber of pulse and driving wheel pattern displacement number scale.
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| CN201410832800.XA CN104536447A (en) | 2014-12-29 | 2014-12-29 | Navigation method for sweeping robot |
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| CN201410832800.XA CN104536447A (en) | 2014-12-29 | 2014-12-29 | Navigation method for sweeping robot |
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Application publication date: 20150422 |