CN105259918A - Automatic charging returning method of robot dust collector - Google Patents
Automatic charging returning method of robot dust collector Download PDFInfo
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- CN105259918A CN105259918A CN201510599080.1A CN201510599080A CN105259918A CN 105259918 A CN105259918 A CN 105259918A CN 201510599080 A CN201510599080 A CN 201510599080A CN 105259918 A CN105259918 A CN 105259918A
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- cog region
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Abstract
The invention discloses an automatic charging returning method of a robot dust collector. The method comprises the steps that: 1, an identification region is arranged on a charging seat; 2, a laser sensor is arranged on the dust collector; 3, the dust collector starts cleaning from any position, a room map is constructed, and the position of the dust collector is determined; 4, a peak shape of the identification shape is identified and extracted from a data map generated by the laser sensor, and if the characteristic parameters of the peak shape are consistent with the characteristic parameters of the characteristic shape structure of the identification region, the charging seat is successively identified, and a step 5 is started, otherwise the step 3 is started again; and 5, the dust collector returns to the charging seat for charging.
Description
Technical field
The present invention relates to a kind of suction cleaner, more particularly, the present invention relates to a kind of method that robot cleaner automatic charging returns.
Background technology
Robot cleaner, has another name called sweeper, is family nurse of new generation! The room rubbish such as the hair in room, melon seed cases, dust can be cleaned.Along with improving constantly of domestic level, originally the sweeping robot always sold at European & American Market also progressively enter into ordinary citizen house, and progressively accept by increasing people, sweeping robot will become the requisite clean helper of each family in the near future as white domestic appliances.Product also can be developed by the intelligence degree of present elementary intelligence towards higher degree, and replacement progressively is manually cleaned.Set high intelligent chip in robot cleaner, the size of the sufficient calculated room of meeting and barrier region, coordinate predetermined cleaning mode, automatically regulate sweep-out pattern.The intelligentized performance of robot cleaner has: fuselage is equipped with steps on empty sensor.Can prevent from eminence drop; Also have anti-winding function, when limit brush is snarled by some objects (such as, carpet, tasselled or cable), he stops the rotation also reverse rotation to break away from winding; Robot cleaner fuselage is equipped with inductor when can recognize furniture or the barrier in front, he understands automatic retarding, to alleviate collision, the situation of Auto-Sensing floor surface, from carpet to hardstand, or from hardstand to carpet, it all can turn speed and suction automatically, better clean room, cradle charging after cleaning task completes, can be automatically returned to.
At present, the method for general robot cleaner recurrence charging is:
Robot cleaner cleans from optional position, when robot detects that electricity is low, start and return charging procedure, robot cleaner finds cradle by random motion pattern, this scheme is generally on cradle, install one group of infrared transmitting tube, when the receiving sensor of robot receives infrared signal, namely have found cradle.This scheme finds cradle by random pattern, returns efficiency comparison low, hurries and looks for, probably can not find cradle in room, causes robot cleaner to return and charges unsuccessfully.
Summary of the invention
An object of the present invention is to solve at least the problems referred to above, and the advantage will illustrated at least is below provided.
A further object of the invention is to provide a kind of method that robot cleaner automatic charging returns, cradle is provided with cog region laser to specific respone structure, when laser sensor scans this cog region, produce special shape data collection of illustrative plates, extract from the production data collection of illustrative plates of laser sensor and the data collection of illustrative plates of this special construction of comparison, once comparison success, namely the identifying of cradle is completed, the position coordinates of mark cradle and suction cleaner self, when charging is required, suction cleaner can complete voluntarily and return charging, the present invention utilizes the figure identification to cradle, solve suction cleaner charging regression process loaded down with trivial details unreliable, charging returns the technical matters such as unsuccessfully.
In order to realize, according to these objects of the present invention and other advantage, providing a kind of method that robot cleaner automatic charging returns, comprising:
Step one, on cradle, be provided with the cog region of character shape structure, described character shape structure is different from the structure of any other object in environment;
Step 2, on dust catcher body, be provided with laser sensor, described laser sensor carries out 360 ° and continues scanning in surface level residing for described cog region, measures the distance of the object on scanning pattern to laser sensor self in real time;
Step 3, described suction cleaner start cleaning at an arbitrary position, described laser sensor starts to scan and generates the data collection of illustrative plates about residing environment space information simultaneously, described suction cleaner is according to described data map construction room map, and the position in described map determined by described suction cleaner;
Step 4, when in described data collection of illustrative plates, there is one fixed width and similar to described cog region shape peak shape time, the characteristic parameter of the characteristic parameter and cog region character shape structure that extract this peak shape is compared, if when described peak shape is consistent with the characteristic parameter of described character shape structure, then judge that object corresponding to this peak shape is cradle, and according to the position of coordinate position determination cradle in described map of this peak shape, enter step 5, otherwise return step 3;
Step 5, detect that electricity is lower than during setting value or until at the end of cleaning process when described suction cleaner, described suction cleaner, according to described cradle and the position of self, directly turns back on described cradle and charges.
Preferably, described cog region is arranged on the top of described cradle, and described character shape structure has certain distribution in short transverse, described laser sensor is arranged in the altitude range at described character shape structure place.
Preferably, the every run-down of described laser sensor corresponding generation data collection of illustrative plates, is arranged in the same coordinate system by each data collection of illustrative plates, constructs complete room map according to several data collection of illustrative plates.
Preferably, described cog region is set to rectangle wavy texture, several rectangular-shaped cavitys are spaced apart to be located on described cog region, when rectangular-shaped peak shape appears in described data collection of illustrative plates, then the cavity width of the width and cog region rectangle wavy texture that extract this rectangular-shaped peak shape is compared.
Preferably, described cog region is set to square-wave-shaped structure, the cavity of several square shapes is equidistantly opened on described cog region, and spacing distance and square shape wide, when the peak shape of square-wave-shaped appears in described data collection of illustrative plates, then the cavity width of the semiperiod width and cog region square shape structure that extract this square wave is compared.
Preferably, in described step 4, when the wavy peak shape of the independent parties at least comprising more than 2 in some described peak shapes, and when the width of each square-wave-shaped peak shape is consistent with the cavity width of cog region square shape structure, then judge that object corresponding to this peak shape is cradle.
Preferably, suction cleaner is in each position, and described laser sensor scans and generates the local map in this room, position, and described in several, local map is built into complete described room map, once navigate to described cog region in the map of a certain described local, directly enter described step 5.
Preferably, described suction cleaner is also provided with the feeler for keeping away barrier.
The present invention at least comprises following beneficial effect:
1, adopt the suction cleaner of the method to achieve to start working at an arbitrary position, can realize automatic charging regression process, applicability is stronger;
2, in suction cleaner charging regression process, figure identification is carried out to cradle, cradle is without the need to sending pilot signal, suction cleaner can automatically position cradle and complete the docking operation with cradle, automaticity and intelligent higher, achieves the zero-power of cradle when standby simultaneously;
3, suction cleaner is in whole process, blocks as long as no barrier, can position cradle rapidly, avoid appearing at suction cleaner electric energy use up before also not to the drawback of cradle location, improve reliability and recurrence efficiency that suction cleaner charging returns.
Part is embodied by explanation below by other advantage of the present invention, target and feature, part also will by research and practice of the present invention by those skilled in the art is understood.
Accompanying drawing explanation
Fig. 1 is overall workflow schematic diagram of the present invention;
Fig. 2 is the perspective view of described suction cleaner;
Fig. 3 is the structural representation of cog region described in a kind of embodiment;
Fig. 4 is the identification peak shape schematic diagram that in Fig. 3, cog region is corresponding;
Fig. 5 is the structural representation of cog region described in another kind of embodiment;
Fig. 6 is the identification peak shape schematic diagram that in Fig. 5, cog region is corresponding.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail, can implement according to this with reference to instructions word to make those skilled in the art.
Should be appreciated that used hereinly such as " to have ", other element one or more do not allotted in " comprising " and " comprising " term or the existence of its combination or interpolation.
As shown in figures 1 to 6, the method that the robot cleaner automatic charging that the invention provides a kind of family expenses returns, comprising:
Step one, on cradle, be provided with the cog region of character shape structure, described character shape structure is different from the structure of any other object in environment, described character shape structure can be other structures such as regular or irregular groove structure, curved cavity, bulge-structure, in advance the characteristic parameter of these character shape structures is input in the control system of suction cleaner, cradle is placed in a room, and cog region is towards depletion region;
Step 2, on dust catcher body 100, be provided with laser sensor 110, laser sensor 110 is arranged on body 100 upper surface, described laser sensor 110 carries out 360 ° and continues scanning in surface level residing for described cog region, to measure the distance of the object on scanning pattern to laser sensor 110 self in real time, namely to measure on dust collector motion path barrier from the distance of self, dust collector control system can take turns doing path planning, improve sweeping efficiency, meanwhile, laser sensor 110 builds the local map in room while measuring; In the present embodiment, described cog region is arranged on the top of described cradle, and described character shape structure has certain distribution in short transverse, described laser sensor 110 is arranged in the altitude range at described character shape structure place, make laser sensor 110 can recognize the architectural feature of cog region, find cradle successively.
Step 3, described suction cleaner starts cleaning at an arbitrary position, without the need to recording the position of cradle in advance, described laser sensor 110 starts to scan and generates the data collection of illustrative plates about residing environment space information simultaneously, also namely in room on dust collector motion path the distance of each object to suction cleaner and the shape facility of each object, because laser sensor 110 can return the path of mistiming recognition object various piece to receiver of receiver according to laser, thus analyze the shape of object, described dust collector control system is according to described data map construction room map, thus determine the position of described suction cleaner in described map,
Step 4, when in described data collection of illustrative plates, there is one fixed width and similar to described cog region shape peak shape time, the characteristic parameter of the characteristic parameter and cog region character shape structure that extract this peak shape is compared, characteristic parameter can be groove, spacing distance between cavity or projection, these length parameters can be extracted from data collection of illustrative plates, if when described peak shape is consistent with the characteristic parameter recording described character shape structure in the controls in advance, then judge that object corresponding to this peak shape is cradle, and according to the position of coordinate position determination cradle in described map of this peak shape, identifying can terminate, thus cradle and suction cleaner self position are in a room determined all, enter step 5, if do not recognize cradle, also just cradle is not detected in suction cleaner location, then return step 3,
Step 5, detect that electricity is lower than during setting value or until cleaning process terminates when described suction cleaner, when needing to return charging, described suction cleaner is according to the position of described cradle and suction cleaner self, and the path that control system cooks up a most shortcut directly turns back on described cradle charges.
In technique scheme, the every run-down corresponding generation data collection of illustrative plates of described laser sensor 110, data collection of illustrative plates is the distance parameter determined according to Laser emission and mistiming of returning, in room, each object reacts in described data collection of illustrative plates from the distance of suction cleaner, each data collection of illustrative plates is arranged in the same coordinate system, thus laser sensor is in all directions, when scanning recognition is carried out in position, by the process of control system, be created on the uniform data spectrogram in same coordinate system, data collection of illustrative plates according to several local constructs complete room map.
In a kind of embodiment, as Fig. 3-4, described cog region 210 is set to rectangle wavy texture, several rectangular-shaped cavitys 211 are spaced apart to be located on described cog region, and these cavitys 211 are towards depletion region, in suction cleaner driving process, laser sensor can recognize cog region 210, when there is rectangular-shaped peak shape on the data collection of illustrative plates generated, the cavity width of the width and cog region rectangle wavy texture that then extract this rectangular-shaped peak shape is compared, when the every run-down of laser sensor 110, namely data collection of illustrative plates generates a rectangular-shaped peak shape, as shown in Figure 4, consistent with the cavity width of cog region rectangle wavy texture once the width recognizing this rectangular-shaped peak shape when control system, can judge that the object of this peak shape corresponding position is cradle, identifying can terminate, when charging is required, charging regression process can be started.
In another kind of embodiment, as seen in figs. 5-6, described cog region 220 is set to square-wave-shaped structure, the cavity 221 of several square shapes is equidistantly opened on described cog region 220, and spacing distance and square shape wide, when there is the peak shape of square-wave-shaped in described data collection of illustrative plates, the cavity width of the semiperiod width and cog region square shape structure that then extract this square wave is compared, as shown in Figure 6, consistent with the cavity width of cog region square shape structure once the semiperiod width recognizing this square wave when control system, can judge that the object of this peak shape corresponding position is cradle, identifying can terminate, when charging is required, charging regression process can be started.
In technique scheme, in described step 4, when the wavy peak shape of the independent parties at least comprising more than 2 in some described peak shapes, and the width of each square-wave-shaped peak shape consistent with the cavity width of cog region square shape structure time, then judge that object corresponding to this peak shape is cradle, in order to avoid identify by mistake.
In technique scheme, suction cleaner is in each position, described laser sensor 110 scans and generates the local map in this room, position, described in several, local map is built into complete described room map, once navigate to described cog region in the map of a certain described local, just can determine cradle position in a room, identifying can terminate, laser sensor only need continue local, structure room map, directly enters described step 5.
Described suction cleaner is also provided with the feeler for keeping away barrier, because some are identifying that the barrier in blind area cannot effectively identify, when suction cleaner close to or when just having run into little barrier, feeler effectively detects these little barriers, control suction cleaner slow down and turn to, effectively reduce the collision impact of suction cleaner, ensure the continuity of suction cleaner work.
From the above mentioned, in the present invention, cradle is provided with cog region laser to specific respone structure, when laser sensor scans this cog region, produce special shape data collection of illustrative plates, these data collection of illustrative plates generate according to the distance of object to suction cleaner self, and it is similar to the structure of cog region, extract from the production data collection of illustrative plates of laser sensor and the pulse collection of illustrative plates of this special construction of comparison, once comparison success, namely the identifying of cradle is completed, the position coordinates of mark cradle and suction cleaner self, when charging is required, suction cleaner can complete voluntarily to fast and reliable and return charging, solve suction cleaner charging regression process loaded down with trivial details unreliable, charging returns the technical matters such as unsuccessfully.In prior art, often from cradle beginning cleaning works, can only remember the position of cradle, could realize charging and return, this mode limits the range of application of suction cleaner, and suction cleaner must trigger from cradle, or need cradle to send pilot signal, suction cleaner is guided to return charging, and suction cleaner electricity low time, not necessarily just in time be in the identified region of this pilot signal, suction cleaner needs random motion until this pilot signal detected, just can complete charging to return, that is suction cleaner is at blind row completely, may travel back and forth in a certain region, differ and this pilot signal detected surely, also just cannot realize charging to return, until electricity is used up, charging returns unsuccessfully, this pilot signal can be detected in time, generally the longer time also may be needed to find, likely also unidentified to cradle, electricity is not enough, thus cause charging to return unsuccessfully.
The present invention is the optimization to above-mentioned two situations, adopts the suction cleaner of the method to achieve and starts working at an arbitrary position, can realize automatic charging regression process, and applicability is stronger, thus solves the drawback of the first situation.
Simultaneously, in suction cleaner charging regression process, cradle is without the need to sending pilot signal, suction cleaner can automatically position cradle and complete the docking operation with cradle, automaticity and intelligent higher, achieve the zero-power of cradle when standby simultaneously, thus solve the drawback of the second situation;
Further, suction cleaner is in whole process, block as long as no barrier, can position cradle rapidly, identifying fast and reliable, the position fixing process of cradle can be completed within the shortest time, and whole identifying only needs once, once the position recognizing cradle and just can determine cradle, in ensuing efforts, without the need to going to the position identifying cradle again, both can complete and the docking of cradle, complete charging regression process, avoid appearing at suction cleaner electric energy use up before also not to the drawback of cradle location, improve the reliability of suction cleaner charging recurrence and return efficiency.
Although embodiment of the present invention are open as above, but it is not restricted to listed in instructions and embodiment utilization, it can be applied to various applicable the field of the invention completely, for those skilled in the art, can easily realize other amendment, therefore do not deviating under the universal that claim and equivalency range limit, the present invention is not limited to specific details and illustrates here and the legend described.
Claims (8)
1. a method for robot cleaner automatic charging recurrence, is characterized in that, comprise the following steps:
Step one, on cradle, be provided with the cog region of character shape structure, described character shape structure is different from the structure of any other object in environment residing for suction cleaner;
Step 2, on dust catcher body, be provided with laser sensor, described laser sensor carries out 360 ° and continues scanning in surface level residing for described cog region, measures the distance of the object on scanning pattern to laser sensor in real time;
Step 3, described suction cleaner start cleaning at an arbitrary position, described laser sensor starts to scan and generates the data collection of illustrative plates about residing environment space information simultaneously, described suction cleaner, according to described data map construction room map, determines the position of described suction cleaner in described map;
Step 4, when in described data collection of illustrative plates, there is one fixed width and the peak shape similar to described cog region shape time, the characteristic parameter of the characteristic parameter and cog region character shape structure that extract this peak shape is compared, if when described peak shape is consistent with the characteristic parameter of described character shape structure, then judge that object corresponding to this peak shape is cradle, and according to the position of coordinate position determination cradle in described map of this peak shape, enter step 5, otherwise return step 3;
Step 5, detect that electricity is lower than during setting value or until at the end of cleaning process when described suction cleaner, described suction cleaner, according to described cradle and the position of self, directly turns back on described cradle and charges.
2. the method for robot cleaner automatic charging recurrence as claimed in claim 1, it is characterized in that, the character shape structure of described cog region has certain distribution in short transverse, is arranged on by described laser sensor in the altitude range at described character shape structure place.
3. the method for robot cleaner automatic charging recurrence as claimed in claim 2, it is characterized in that, the every run-down of described laser sensor corresponding generation data collection of illustrative plates, each data collection of illustrative plates is arranged in the same coordinate system, constructs complete room map according to several data collection of illustrative plates.
4. the method for robot cleaner automatic charging recurrence as claimed in claim 3, it is characterized in that, described cog region is set to rectangle wavy texture, several rectangular-shaped cavitys are spaced apart is located at the structure described cog region being formed and has a kind of special shape, when rectangular-shaped peak shape appears in described data collection of illustrative plates, then the cavity width of the width and cog region rectangle wavy texture that extract this rectangular-shaped peak shape is compared.
5. the method for robot cleaner automatic charging recurrence as claimed in claim 4, it is characterized in that, described cog region is set to square-wave-shaped structure, several foursquare cavitys are equidistantly opened on described cog region, and spacing distance and foursquare limit wide, when the peak shape of square-wave-shaped appears in described data collection of illustrative plates, then the cavity width of the semiperiod width and cog region square shape structure that extract this square wave is compared.
6. the method for robot cleaner automatic charging recurrence as claimed in claim 5, it is characterized in that, in described step 4, when the wavy peak shape of the independent parties at least comprising more than 2 in some described peak shapes, and the width of each square-wave-shaped peak shape and the cavity width of cog region square structure consistent time, then judge that object corresponding to this peak shape is cradle.
7. the method for robot cleaner automatic charging recurrence as claimed in claim 1, it is characterized in that, suction cleaner is in each position, described laser sensor scans and generates the local map in this room, position, described in several, local map is built into complete described room map, once navigate to described cog region in the map of a certain described local, directly enter described step 5.
8. the method for robot cleaner automatic charging recurrence as claimed in claim 1, is characterized in that, described suction cleaner being also provided with the feeler for keeping away barrier.
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