CN104757912A - Intelligent floor-sweeping robot - Google Patents
Intelligent floor-sweeping robot Download PDFInfo
- Publication number
- CN104757912A CN104757912A CN201410752789.6A CN201410752789A CN104757912A CN 104757912 A CN104757912 A CN 104757912A CN 201410752789 A CN201410752789 A CN 201410752789A CN 104757912 A CN104757912 A CN 104757912A
- Authority
- CN
- China
- Prior art keywords
- robot
- obstacle sensor
- triggered
- obstacle
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent floor-sweeping robot which comprises multiple obstacle sensors arranged at preset intervals. Each obstacle sensor is correspondingly provided with a turning angle. When the obstacle sensors are triggered, the turning angle of the robot is relevant with the corresponding turning angles of the triggered obstacle sensors. By means of the technical scheme, when the floor-sweeping robot detects an obstacle, the turning angle of the robot is relevant with the preset turning angles of the triggered obstacle sensors, accordingly a motion route of the robot can be optimized, and cleaning efficiency is improved.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of Intelligent robot for sweeping floor.
Background technology
Carry out when robot detects barrier in the prior art turning to the stop condition of setting to be no longer barrier detected.This kind of design has the deficiency of following two aspects: 1, because this condition is a comparatively subjective decision condition, robot is easier to the error caused in program in the process of implementation, such as, robot detects again other barriers in steering procedure, may be judged to be still in the scope of current barrier.2, owing to not pre-setting the direction and angle that robot turns to, preferably mode cannot be selected to turn to.
Summary of the invention
Technical problem to be solved by this invention is, provides a kind of Intelligent robot for sweeping floor, can optimize robot cleaning path, improve sweeping efficiency.
In order to solve the problems of the technologies described above, on the one hand, The embodiment provides a kind of Intelligent robot for sweeping floor, comprise: the multiple obstacle sensors arranged with preset pitch, and each described obstacle sensor correspondence arranges a steering angle, when obstacle sensor is triggered, the angle that robot carries out the turning to steering angle corresponding with the obstacle sensor that this is triggered associates.
In a kind of preferred embodiment, described multiple obstacle sensor is arranged in described robot equally spacedly.
Particularly, described multiple obstacle sensor is arranged on described robot front end equally spacedly.
In a kind of preferred embodiment, the number of described obstacle sensor be greater than 3 odd number.
In a kind of embodiment, described when obstacle sensor is triggered, the angle that robot carries out turning to is the steering angle that obstacle sensor that this is triggered is corresponding.
Particularly, the position that the steering angle of described each obstacle sensor correspondence setting is residing in described robot with it associates and arranges.
Particularly, described obstacle sensor comprises collision type obstacle sensor, proximity obstacle sensor.
In a kind of embodiment, described in the obstacle sensor that is triggered when being collision type barrier thing sensor, the angle that robot the turns to steering angle corresponding with the crash sensor be triggered at first associates.
Particularly, it is characterized in that, described proximity obstacle sensor at least comprises the transmitter of an emission detection signal and the receiver of a reception detectable signal reflected signal.
Preferably, at least one transmitter described and at least one receiver described be arranged in parallel.
Embodiment of the present invention tool has the following advantages or beneficial effect:
The embodiment of the present invention is adopted as each obstacle sensor and arranges a corresponding steering angle, the angle that robot turns to when this obstacle sensor the is triggered steering angle that arrange corresponding to the obstacle sensor that this is triggered associates, thus optimize the motion path of sweeping robot, improve cleaning efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of sensor of in the embodiment of the present invention, robot placing obstacles;
Fig. 2 is the structural representation of proximity obstacle sensor in the embodiment of the present invention;
Fig. 3 a, 3b are the schematic diagrames of robotary when obstacle sensor 31 detects barrier in the embodiment of the present invention;
Fig. 3 c, 3d are the schematic diagrames of robotary when obstacle sensor 32 detects barrier in the embodiment of the present invention;
Fig. 3 e, 3f are the schematic diagrames of robotary when obstacle sensor 33 detects barrier in the embodiment of the present invention;
Fig. 4 a, 4b are the schematic diagrames of robotary when obstacle sensor 32 detects barrier in the another kind of embodiment of the present invention;
Fig. 4 c, 4d are the schematic diagrames of robotary when obstacle sensor 33 detects barrier in the another kind of embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Below with reference to the accompanying drawings embodiments of the invention are described.See Fig. 1, it is the schematic diagram of sensor that robot in the embodiment of the present invention places obstacles.Robot 1 comprises 5 pairs of proximity obstacle sensors in the present embodiment, through signal window emission detection signal and reception reflected signal.Wherein, proximity obstacle sensor 13 is arranged on the dead ahead of robot, the symmetrical spaced set of other two couples, and the right has an obstacle sensor not shown.Each proximity sensor comprises at least one signal projector and at least one signal receiver.The detectable signal of signal projector emission detection barrier, signal receiver receives the reflected signal of detectable signal, thus cognitive disorders thing.
In the present invention, corresponding each obstacle sensor arranges a steering angle, when this obstacle sensor is triggered, when namely robot detects barrier by this obstacle sensor, the angle that robot carries out turning to is associated with the steering angle that this obstacle sensor is arranged.Such as, the steering angle that the obstacle sensor 11,12,13,14 shown in figure is arranged is respectively α 1, α 2, α 3, α 4.When the obstacle sensor 11 of robot detects barrier, the angle that robot turns to associates with α 1 and arranges; When the obstacle sensor 12 of robot detects barrier, the angle that robot turns to associates with α 2 and arranges; When the obstacle sensor 13 of robot detects barrier, the angle that robot turns to associates with α 3 and arranges; When the obstacle sensor 14 of robot detects barrier, the angle that robot turns to associates with α 4 and arranges.In a kind of embodiment, the angle that robot turns to is the steering angle that each obstacle sensor correspondence is arranged.That is, when the obstacle sensor 11 of robot is triggered, the angle that robot turns to is α 1; When the obstacle sensor 12 of robot is triggered, the angle that robot turns to is α 2; When the obstacle sensor 13 of robot is triggered, the angle that robot turns to is α 3; When the obstacle sensor 14 of robot is triggered, the angle that robot turns to is α 4.
In addition, it should be noted that, the steering angle that each obstacle sensor correspondence is arranged can be a vector comprising steering direction, also can be one only to comprise the scalar turning to numerical value.When the steering angle that each obstacle sensor is corresponding is when only comprising the scalar turning to numerical value, can the direction that turns to of unified definition robot, as swept side rotation etc. towards being provided with limit.
In addition, because crash sensor in design is usually integrated design, when namely colliding barrier, multiple crash sensor is all triggered, thus knows the position of barrier relative to robot according to the relative position of each crash sensor and time of being triggered.Therefore, when the sensor be triggered when an obstacle is detected is crash sensor, the angle that robot the turns to steering angle arranged corresponding to the crash sensor be triggered at first associates and arranges.
In the embodiment of the present invention, obstacle sensor 11,12,13,14 and the unshowned obstacle sensor be arranged on the right side of in the of 14 are all arranged on the front end of robot, knock before namely shown in figure.
According to ergonomic designs principle, the number of obstacle sensor is preferably an odd number being greater than 3.
In addition, the occurrence of steering angle that arranges of each obstacle sensor correspondence and steering direction relevant with the position residing for obstacle sensor is in robot.Such as, by arranging steering angle corresponding to each obstacle sensor, when robot is turned to this steering angle, no longer barrier can be detected more quickly.
Please refer to Fig. 2, in one preferably embodiment, signal projector 21 and the signal receiver 22 of obstacle sensor be arranged in parallel, thus distant barrier 23 can be detected.
Please refer to Fig. 3 a-3f, be wherein depicted as when Intelligent robot for sweeping floor arranging 3 proximity obstacle sensors, the motion state that the obstacle sensor different machines people that is triggered is different.Intelligent robot for sweeping floor 3 front end spaced set 3 obstacle sensors 31,32,33.
Be the view of robot when the obstacle sensor 31 in robot detects barrier 4 shown in Fig. 3 a, Fig. 3 b is for robot 3 is along the view of directional steering shown in arrow.Wherein, the steering angle of obstacle sensor 31 correspondence of the angle [alpha] 1 that turns to of robot for pre-setting.
Be the view of robot when the obstacle sensor 32 in robot detects barrier 4 shown in Fig. 3 c, Fig. 3 d is for robot 3 is along the view of directional steering shown in arrow.Wherein, the steering angle of obstacle sensor 32 correspondence of the angle [alpha] 2 that turns to of robot for pre-setting.
Be the view of robot when the obstacle sensor 33 in robot detects barrier 4 shown in Fig. 3 e, Fig. 3 f is for robot 3 is along the view of directional steering shown in arrow.Wherein, the steering angle of obstacle sensor 33 correspondence of the angle [alpha] 3 that turns to of robot for pre-setting.
It should be noted that, in embodiments of the present invention, sweeping robot all turns in the mode of pivot stud, and in other embodiments, robot also can turn to while move.
Please refer to Fig. 4 a, 4b, its motion state schematic diagram when the obstacle sensor 32 being wherein depicted as robot 3 in another kind of embodiment detects barrier 4.Wherein, shown in Robot arrow, direction turns to, the steering angle of obstacle sensor 32 correspondence of its steering angle α 4 for pre-setting.
Please refer to Fig. 4 c, 4d, its motion state schematic diagram when the obstacle sensor 33 being wherein depicted as robot 3 in another kind of embodiment detects barrier 4.Wherein, shown in Robot arrow, direction turns to, the steering angle of obstacle sensor 33 correspondence of its steering angle α 5 for pre-setting.
In addition, it should be noted that, when multiple obstacle sensors of robot detect barrier simultaneously, turn to have the steering angle arranged corresponding to the obstacle sensor of higher priority.Usually, the obstacle sensor that middle part is arranged has higher priority than the obstacle sensor that both sides are arranged.
In addition, it should be noted that, multiple obstacle sensor is distributed on mutually different vertical plane on Intelligent robot for sweeping floor in embodiments of the present invention, thus makes each obstacle sensor all can play its effect to coordinate detecting obstacles thing in the horizontal plane.
Embodiment of the present invention tool has the following advantages or beneficial effect: the embodiment of the present invention is adopted as each obstacle sensor and arranges a corresponding steering angle, the angle that robot turns to when this obstacle sensor the is triggered steering angle that arrange corresponding to the obstacle sensor that this is triggered associates thus optimizes the motion path of sweeping robot, improves cleaning efficiency.One is preferably in embodiment, and the angle that robot carries out turning to is the steering angle that the obstacle sensor correspondence be triggered is arranged.
Device embodiment described above is only schematic, the wherein said unit illustrated as separating component or can may not be and physically separates, parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed on multiple NE.Some or all of module wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.Those of ordinary skill in the art, when not paying performing creative labour, are namely appreciated that and implement.
Claims (10)
1. an Intelligent robot for sweeping floor, comprise: the multiple obstacle sensors arranged with preset pitch, and each described obstacle sensor correspondence arranges a steering angle, when obstacle sensor is triggered, the angle that robot carries out the turning to steering angle corresponding with the obstacle sensor that this is triggered associates.
2. robot as claimed in claim 1, it is characterized in that, described multiple obstacle sensor is arranged in described robot equally spacedly.
3. robot as claimed in claim 2, it is characterized in that, described multiple obstacle sensor is arranged on described robot front end equally spacedly.
4. robot as claimed in claim 3, is characterized in that, the number of described obstacle sensor be greater than 3 odd number.
5. the robot as described in any one of claim 1-4, is characterized in that, described when obstacle sensor is triggered, and the angle that robot carries out turning to is the steering angle that obstacle sensor that this is triggered is corresponding.
6. robot as claimed in claim 5, is characterized in that, the steering angle that described each obstacle sensor correspondence is arranged with its in described robot residing for position associate and arrange.
7. robot as claimed in claim 1, it is characterized in that, described obstacle sensor comprises collision type obstacle sensor, proximity obstacle sensor.
8. robot as claimed in claim 7, is characterized in that, described in the obstacle sensor that is triggered when being collision type barrier thing sensor, the angle that robot the turns to steering angle corresponding with the crash sensor be triggered at first associates.
9. robot as claimed in claim 7, is characterized in that, described proximity obstacle sensor at least comprises the transmitter of an emission detection signal and the receiver of a reception detectable signal reflected signal.
10. robot as claimed in claim 9, it is characterized in that, at least one transmitter described and at least one receiver described be arranged in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410752789.6A CN104757912A (en) | 2014-12-10 | 2014-12-10 | Intelligent floor-sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410752789.6A CN104757912A (en) | 2014-12-10 | 2014-12-10 | Intelligent floor-sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104757912A true CN104757912A (en) | 2015-07-08 |
Family
ID=53640271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410752789.6A Pending CN104757912A (en) | 2014-12-10 | 2014-12-10 | Intelligent floor-sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104757912A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112716381A (en) * | 2020-12-28 | 2021-04-30 | 湖南格兰博智能科技有限责任公司 | Map-based sweeper obstacle-avoiding and sweeping method in advance |
| CN115005711A (en) * | 2021-11-05 | 2022-09-06 | 追觅创新科技(苏州)有限公司 | Operation control method and device for cleaning robot, storage medium and electronic device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101313829A (en) * | 2007-05-31 | 2008-12-03 | 三星光州电子株式会社 | Cleaning robot |
| CN201572040U (en) * | 2009-10-09 | 2010-09-08 | 泰怡凯电器(苏州)有限公司 | Self-moving land disposal robot |
| CN201602713U (en) * | 2009-10-09 | 2010-10-13 | 泰怡凯电器(苏州)有限公司 | Self-moving land disposal robot |
| WO2011082606A1 (en) * | 2010-01-07 | 2011-07-14 | 泰怡凯电器(苏州)有限公司 | Judging method for soiling of dust sensor, wiping system and cleaning robot |
| CN102138769A (en) * | 2010-01-28 | 2011-08-03 | 深圳先进技术研究院 | Cleaning robot and cleaning method thereby |
| TW201334750A (en) * | 2012-02-16 | 2013-09-01 | Micro Star Int Co Ltd | Control method for cleaning robots |
| CN204274336U (en) * | 2014-12-10 | 2015-04-22 | 深圳市银星智能科技股份有限公司 | A kind of Intelligent robot for sweeping floor |
-
2014
- 2014-12-10 CN CN201410752789.6A patent/CN104757912A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101313829A (en) * | 2007-05-31 | 2008-12-03 | 三星光州电子株式会社 | Cleaning robot |
| CN201572040U (en) * | 2009-10-09 | 2010-09-08 | 泰怡凯电器(苏州)有限公司 | Self-moving land disposal robot |
| CN201602713U (en) * | 2009-10-09 | 2010-10-13 | 泰怡凯电器(苏州)有限公司 | Self-moving land disposal robot |
| WO2011082606A1 (en) * | 2010-01-07 | 2011-07-14 | 泰怡凯电器(苏州)有限公司 | Judging method for soiling of dust sensor, wiping system and cleaning robot |
| CN102138769A (en) * | 2010-01-28 | 2011-08-03 | 深圳先进技术研究院 | Cleaning robot and cleaning method thereby |
| TW201334750A (en) * | 2012-02-16 | 2013-09-01 | Micro Star Int Co Ltd | Control method for cleaning robots |
| CN204274336U (en) * | 2014-12-10 | 2015-04-22 | 深圳市银星智能科技股份有限公司 | A kind of Intelligent robot for sweeping floor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112716381A (en) * | 2020-12-28 | 2021-04-30 | 湖南格兰博智能科技有限责任公司 | Map-based sweeper obstacle-avoiding and sweeping method in advance |
| CN115005711A (en) * | 2021-11-05 | 2022-09-06 | 追觅创新科技(苏州)有限公司 | Operation control method and device for cleaning robot, storage medium and electronic device |
| CN115005711B (en) * | 2021-11-05 | 2024-05-14 | 追觅创新科技(苏州)有限公司 | Operation control method and device of cleaning robot, storage medium and electronic device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10436899B2 (en) | Object detection apparatus | |
| US11858494B2 (en) | Method for processing vehicle driving mode switching, vehicle and server | |
| EP3133459A1 (en) | Local obstacle avoidance walking method of self-moving robot | |
| JP2017076371A5 (en) | ||
| JP6413621B2 (en) | On-vehicle object discrimination device | |
| CN105487536A (en) | Low-cost autonomous obstacle avoidance method for mobile robot | |
| KR20180094055A (en) | Method and apparatus for parking assistance | |
| EP3159766B1 (en) | Method and system thereof for adjusting and controlling position of movable household appliance relative to person | |
| US10131056B2 (en) | Mobile robot having reflector | |
| WO2022111017A1 (en) | Tof-camera-based obstacle classification and obstacle avoidance control method | |
| JP2013186088A5 (en) | ||
| RU2014130232A (en) | VEHICLE RECOGNITION DEVICE AND VEHICLE CONTROL DEVICE | |
| MX2016015830A (en) | Device for detecting an obstacle by means of intersecting planes and detection method using such a device. | |
| CN204274336U (en) | A kind of Intelligent robot for sweeping floor | |
| JP3206661U (en) | Self-propelled collision prevention, collision mitigation and wall running system | |
| JP2015004562A (en) | Obstacle detection device | |
| JP6730613B2 (en) | Overhead video generation device, overhead video generation system, overhead video generation method and program | |
| WO2019195483A1 (en) | Time of flight sensor arrangement for robot navigation and methods of localization using same | |
| TW201825038A (en) | Operating method of self-walking device in which the environment map is displayed on a display device during the movements of the walking device | |
| CN104757912A (en) | Intelligent floor-sweeping robot | |
| US20160357335A1 (en) | Infrared Touch Screen, Touch Detection Method Thereof and Display Apparatus | |
| JP2020517023A (en) | Robot motion control method based on map prediction | |
| CN106647761A (en) | Self-moving sweeper and control method thereof | |
| CN105260064A (en) | Touch point identification method and apparatus, and display device | |
| CN211149278U (en) | Autonomous robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150708 |