CN105744872B - 旋转侧刷的自适应速度控制 - Google Patents

旋转侧刷的自适应速度控制 Download PDF

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CN105744872B
CN105744872B CN201380081103.9A CN201380081103A CN105744872B CN 105744872 B CN105744872 B CN 105744872B CN 201380081103 A CN201380081103 A CN 201380081103A CN 105744872 B CN105744872 B CN 105744872B
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cleaning device
robotic cleaning
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CN105744872A (zh
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M·林德
A·克林特米尔
安德斯·黑格马克
P·福斯贝里
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    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
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    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0405—Driving means for the brushes or agitators
    • A47L9/0411—Driving means for the brushes or agitators driven by electric motor
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    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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Abstract

本发明涉及一种控制机器人清洁设备的旋转侧刷的方法以及一种执行该方法的机器人清洁设备。该机器人清洁设备包括主体(11)、被安排为使该机器人清洁设备在有待清洁的表面上移动的推进系统(12，13，15a，15b)、以及控制器(16)，该控制器被安排为控制该推进系统使该机器人清洁设备根据导航信息在有待清洁的表面上移动。进一步地，该机器人清洁设备包括开口(17)以及至少一个旋转侧刷(24)，该开口被安排在该主体的底侧，经由该开口从有待清洁的表面去除碎屑，该至少一个旋转侧刷被安排为邻近该开口。该控制器被安排为记录该机器人清洁设备在有待清洁的表面上移动的速度，并且进一步基于该机器人清洁设备的所记录的移动速度控制旋转侧刷的转速。

Description

旋转侧刷的自适应速度控制
技术领域
本发明涉及一种控制机器人清洁设备的旋转侧刷的方法以及一种执行该方法的机器人清洁设备。
背景
机器人真空吸尘器在本领域是已知的，这些机器人真空吸尘器装备有呈电机形式的驱动装置用于在待清洁的表面上移动吸尘器。机器人真空吸尘器进一步装备有呈用于引起自主行为的微处理器和导航装置形式的智能，从而使得机器人真空吸尘器能够自由地来回移动并且清洁呈例如房间形式的空间。
传统上，机器人真空吸尘器一直安排有圆形主体。在其本体中心处具有同轴驱动轮的这类机器人具有以下优点：它容易控制并且不能被卡住，因为它始终能够旋转180°并且按原路返回。然而，圆形主体使得它们不适用于清洁地板与墙壁交汇之处的角落或边缘，因为这些圆形真空吸尘器由于其形状而不能移动到角落里或离墙壁、或其他需要在周围进行清洁的物体(例如像椅子腿)足够近。WO 03/024292中披露了目的在于解决这种问题的一种机器人真空吸尘器的实例，该机器人真空吸尘器的主体在其后端是圆形的，而主体的前端是基本上矩形的。就伸进角落里而言，这是较传统圆形机器人真空吸尘器的一项改进。进一步地，扫刷被安排在主体的底侧并且被安置成使得它们与矩形主体前端的前拐角区域相关联。
发明内容
本发明的目的是提供一种控制机器人清洁设备的旋转侧刷的改进的方法以及一种执行该改进的方法的机器人清洁设备。
这个目的在本发明的第一方面是通过一种控制机器人清洁设备的至少一个旋转侧刷的方法达到的。该方法包括控制机器人清洁设备在有待清洁的表面上的移动，记录该机器人清洁设备在该表面上移动的速度，并且基于该机器人清洁设备的移动速度控制该至少一个侧刷的转速。
这个目的在本发明的第二方面是通过一种机器人清洁设备达到的，该机器人清洁设备包括：主体；至少一个驱动轮，该至少一个驱动轮被安排为使该机器人清洁设备在待清洁的表面上移动；驱动装置，该驱动装置被安排为控制该至少一个驱动轮旋转使该机器人清洁设备在该表面上移动；以及控制器，该控制器被安排为控制该驱动装置使该机器人清洁设备在该表面上移动。进一步地，该机器人清洁设备包括开口以及旋转侧刷，该开口在该主体的底侧，经由该开口从该有待清洁的表面上去除碎屑，该旋转侧刷被安排为邻近该开口。该控制器被安排为记录该机器人清洁设备在该表面上移动的速度，并且进一步基于该机器人清洁设备的所记录的移动速度控制该旋转侧刷的转速。
有利地，该旋转侧刷用于收集位于机器人清洁设备的边缘处或者甚至之外的灰尘和碎屑、或者该开口(经由该开口，抽风机通常产生气流，以便将碎屑运输到集尘室)够不到的任何碎屑，从而使得这些碎屑最后来到该主体下方，并因此能够经由该主体中的开口被运输到该机器人清洁设备的集尘室。进一步地，通过基于机器人清洁设备在有待清洁的表面上移动的速度控制旋转侧刷的转速，能够有利地提高旋转侧刷的效率；不同的清洁情况需要旋转侧刷的不同操作模式。
在本发明的实施例中，旋转侧刷被安排在该主体的边缘处。有利地，通过将旋转侧刷定位在主体的边缘处，机器人清洁设备能够伸进并清洁机器人清洁设备够不着的角落和其他区域。
在本发明的另一个实施例中，该控制器(例如是诸如微处理器的处理单元)被安排为当记录的机器人清洁设备在有待清洁的表面上移动的速度降低时，降低旋转侧刷的转速。相反地，当机器人清洁设备的移动速度增大时，控制器增大旋转侧刷的转速。例如，如果机器人清洁设备在开放的表面或具有很少碎屑的表面上移动，则清洁设备被控制为以相对高的速度移动，其中，旋转侧刷的转速也有利地被控制为达到相对高的速度。相反，如果机器人清洁设备在被例如家具、玩具和其他物体塞满的表面、或具有很多碎屑的表面上移动，则清洁设备被控制为以相对低的速度移动，其中，旋转侧刷的转速也有利地被控制为被降低。
因此，在本发明的另一个实施例中，控制器被安排为控制旋转侧刷的旋转，从而使得侧刷的圆周转速与机器人清洁设备在有待清洁的表面上移动的速度相关。在本发明的另一个实施例中，旋转侧刷的圆周转速被控制为等于或高于机器人清洁设备在有待清洁的表面上移动的速度。这是有利的，因为除非机器人的移动速度高于碎屑被旋转侧刷扫起的速度，否则有碎屑留在机器人清洁设备后面并因此不能从有待清洁的表面上去除的风险。
在本发明的另一个实施例中，控制器被安排为控制旋转侧刷的旋转，从而使得不管机器人清洁设备在有待清洁的表面上移动的速度如何，都使该转速不下降到低于下限阈值。有利地，如果机器人清洁设备的移动速度较低，也许甚至是零，则侧刷的转速仍被控制为超过下限阈值，以避免旋转侧刷停滞。应该注意的是，当清洁设备突然被控制为朝180°的方向移动时，机器人清洁设备的转速至少即刻下降到零。通过这个实施例，侧刷的转速将有利地仍超过下限阈值。
应注意的是，本发明涉及在权利要求书中所引用的特征的所有可能组合。在学习所附权利要求书和以下说明时，本发明的另外的特征和优点将变得清楚。本领域的技术人员认识到，本发明的不同特征可以进行组合以产生除以下所描述的实施例之外的其他实施例。
附图简要说明
现在将以举例方式通过参考附图来描述本发明，在附图中：
图1示出了根据本发明实施例的机器人清洁设备的底视图；
图2示出了朝反方向移动的图1的机器人清洁设备；
图3示出了装备有两个旋转侧刷的根据本发明实施例的机器人清洁设备的底视图；
图4a展示了根据本发明的控制机器人清洁设备的侧刷转速的方法的实施例的流程图；
图4b展示了根据本发明的控制机器人清洁设备的侧刷的转速的方法的另一个实施例的流程图；并且
图5以底视图展示了图1的机器人清洁设备导航进出狭窄走廊中的两个角落的移动顺序a-f。
详细说明
现在将参照这些附图在下文中更全面地描述本发明，在附图中示出了本发明的某些实施例。然而本发明可以采用许多不同的形式来实施，并且不限制于在此阐述的实施例；而是，这些实施例是以举例方式提供的，这样使得本披露将变得全面和完整，并且将向本领域技术人员充分地表达本发明的范围。
本发明涉及机器人清洁设备，或者换言之，涉及用于清洁表面的自动自推进机器，例如，机器人真空吸尘器或机器人清扫器。根据本发明的机器人清洁设备能够用市电操作并且具有电绳、能够用电池操作或者使用任何其他种类的合适的能源，例如，太阳能。
图1示出了从下方观看的根据本发明的实施例的机器人清洁设备10，即，示出了机器人清洁设备的底侧。箭头指示机器人清洁设备的前进方向。机器人清洁设备10包括主体11，该主体容纳诸如推进系统的多个部件，该推进系统包括呈能够使驱动轮12、13移动的两个轮电机15a、15b形式的驱动装置，从而使得清洁设备能够在有待清洁的表面上移动。每个轮电机15a、15b能够控制驱动轮12、13彼此独立地旋转，以便使机器人清洁设备10在有待清洁的表面上移动。可以设想多种不同的驱动轮安排。例如，机器人清洁设备存在驱动轮12、13沿传动轴(未示出)同轴安排的情况。作为替代方案，可以使用跟踪推进系统或甚至气垫船推进系统。进一步地，不同的驱动电机安排是有可能的；例如，一个驱动轮和一个驱动电机、两个驱动轮和一个驱动电机、或甚至具有用于单独控制的三个单独驱动电机的三个轮等。应该注意的是，机器人清洁设备可以具有任何合适的形状，诸如具有更传统的圆形主体、或三角形主体的设备。
诸如微处理器的控制器16控制轮电机15a、15b从而鉴于从障碍物检测设备(未示出)接收的信息根据需要使驱动轮12、13旋转，该障碍物检测设备用于检测机器人清洁设备必须绕其导航的、呈墙壁、落地灯、桌腿、形式的障碍物。
障碍物检测设备可以以红外(IR)传感器和/或声呐传感器、微波雷达、记录其周围环境借助于例如3D相机、与激光器组合、激光扫描仪的相机实现的3D传感器系统等形式被实施，用于检测障碍物并将关于任何检测到的障碍物的信息传达到微处理器16。微处理器16与轮电机15a、15b通信，以根据由障碍物检测设备提供的信息来控制轮12、13的移动，从而使得机器人清洁设备10能够根据需要在有待清洁的表面上移动。
进一步地，，主体11安排有用于将碎屑和灰尘从待清洁的表面清除的个清洁构件。这在本发明的实施例中借助于抽风机20实现，该抽风机产生气流，以便经由主体11的底侧中的开口17将碎屑运输到被容纳在该主体中的集尘室或旋流器安排。在另外一个实施例中，该清洁构件进一步包括可旋转刷辊18，该可旋转刷辊沿水平轴线安排在开口17中，以增强清洁设备10的灰尘和碎屑收集性能。为了使刷辊17旋转，刷辊电机19操作地联接到刷辊上，以用根据控制器16接收的指令控制控制其旋转。抽风机20被通信地连接到控制器16上的风扇电机21驱动，风扇电机21从该控制器接收用于控制抽风机20的指令。
进一步参考图1，以一个或多个微处理器形式实施的处理单元16被安排成执行被下载到与该微处理器相关联的合适存储介质26中的计算机程序25，诸如随机存取存储器(RAM)、快闪存储器或硬盘驱动器。处理单元16被安排成在包含计算机可执行指令的适当计算机程序25被下载至存储介质26并且被处理单元16执行时实施根据本发明的实施例的方法。存储介质26还可以是包括计算机程序25的一种计算机程序产品。替代地，计算机程序25可以通过合适的计算机程序产品(诸如数字通用光盘(DVD)、光盘(CD)或记忆棒)来传递至存储介质26。作为另外一个替代方案，计算机程序25可以通过网络下载至存储介质26。处理单元16可以替代地以数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)、复杂可编程逻辑器件(CPLD)的形式被实施。
主体11进一步安排有邻近开口17的旋转侧刷24，可以通过驱动电机15a、15b、刷辊电机19或可替代地单独的侧刷电机(未示出)来控制旋转侧刷的旋转。有利地，旋转侧刷24从有待清洁的表面扫起碎屑和灰尘，从而使得灰尘在开口17处最终来到主体10的下方，并因此能够运输到机器人清洁设备的集尘室。进一步地有利的是，将提高机器人清洁设备10的到达率，并更有效地清洁例如角落和地板与墙壁交汇的区域。如图1所展示的，旋转侧刷24朝一个方向旋转，从而使得它朝向开口17扫起碎屑，从而使得抽风机20能够将碎屑运输到集尘室。
因此，进一步参考参考图2以及图1进一步展示的本发明的实施例，控制器16被安排为控制旋转侧刷24的旋转方向，从而使得在侧刷的边缘上的相对于开口17在远端的点朝与机器人清洁设备的移动方向相同的方向移动。类似地，在侧刷24的边缘上的相对于开口17在近端的点(未示出)将朝与机器人清洁设备的移动方向相反的方向移动。在图1中，当机器人清洁设备10沿前进方向移动时，旋转侧刷24被控制为朝向开口17扫起碎屑，即，旋转侧刷24的远端点27朝与机器人清洁设备10的移动方向相同的方向移动。参考图2，如果机器人清洁设备10突然被控制为沿相反方向移动，则控制器16将仍然控制旋转侧刷24朝向开口17扫起碎屑，即，旋转侧刷24的远端点27被改变为再次朝与机器人清洁设备10的移动方向相同的方向移动。
图3展示了本发明的另外一个实施例，其中，机器人清洁设备10包括两个旋转侧刷23、24，这两个旋转侧刷被侧向地安排在开口17的每一侧并邻近该开口。
如前面已经讨论的，通过基于机器人清洁设备10在有待清洁的表面上移动的速度控制旋转侧刷23、24的转速，能够有利地提高其效率，因为不同的清洁情况需要旋转侧刷24的不同操作模式。
图4a展示了根据本发明的控制机器人清洁设备的至少一个旋转侧刷的旋转的方法的实施例的流程图。针对本发明的机器人清洁设备的元件，进一步参考图1。在第一步骤101，通过将控制信号发送给引起轮12、13旋转并使机器人清洁设备10相应移动的驱动电机15a、15b，控制器16控制机器人清洁设备10根据导航信息移动。控制器16因此控制机器人清洁设备10在表面上移动的速度。在第二步骤S102，控制器16记录机器人清洁设备移动的速度。在步骤S103，控制器16基于机器人清洁设备10的移动速度，控制侧刷24的转速。
例如，在本发明的更详细的实施例中，在图4b所展示的其流程图中，控制器16在步骤S101根据例如通过使用者选择的预定清洁程序提供给控制器的导航信息来控制机器人清洁设备10的移动。当机器人清洁设备10在表面上移动时，控制器16通过例如速度指示器或者通过记录轮12、13的转速来测量机器人清洁设备的移动速度。进一步设想，控制器16基于发送给驱动电机15a、15b的控制信号计算该移动速度。因此，机器人清洁设备10的移动速度不必通过诸如速度指示器的传感器来测量，而是能够可替代地通过控制器16使用控制信号的特性(例如，脉冲宽度调制控制信号的振幅和/或占空比)与轮12、13的已知直径组合来计算或估算。响应于所记录的移动速度，控制器生成并传送控制信号给旋转侧刷24，用于控制侧刷24的转速。在这个具体实施例中，只要机器人清洁设备10的移动速度是恒定的，控制器16将保持侧刷24的转速。但是，如果机器人清洁设备的移动速度降低，则在步骤S103a，控制器16被安排为通过相应地配置控制信号来降低旋转侧刷24的转速。相反地，当机器人清洁设备10的移动速度增大时，在步骤S103b，控制器16增大旋转侧刷24的转速。例如，如果机器人清洁设备10在开放的表面或具有很少碎屑的表面上移动，则它被控制为以相对高的速度移动，其中，旋转侧刷24的转速也有利地被控制为达到相对高的速度。相反，如果机器人清洁设备10在被例如家具、玩具和其他物体塞满的表面、或具有很多碎屑的表面上移动，则机器人清洁设备10被控制为以相对低的速度移动，其中，旋转侧刷24的转速也有利地被控制为被降低。
在本发明的另一个实施例中，控制器16被安排为控制旋转侧刷24的旋转，从而使得侧刷24的圆周转速与机器人清洁设备10在有待清洁的表面上的移动速度相关。因此：
vm＝k x vr，其中
vm是机器人清洁设备的速度，
k是比例因子，并且
vr是旋转侧刷的转速。
圆周转速被定义为：
vr＝2πx r x f，其中
r是旋转侧刷的半径，并且
f是刷子的旋转频率。
在本发明的另一个实施例中，旋转侧刷24的圆周转速被控制为等于或高于机器人清洁设备10在有待清洁的表面上移动的速度。因此，在实例中，假设机器人清洁设备10以vm＝1m/s的速度移动，并且旋转侧刷的半径是r＝0.03m，那么旋转侧刷的转速将变为：
F＝1/0.06π＝5.3转/s。
在本发明的另外一个实施例中，万一机器人清洁设备10移动得很慢或甚至停止，为了防止旋转侧刷24停滞，控制器16将控制旋转侧刷24的旋转，从而使得不论机器人清洁设备10在有待清洁的表面上移动的速度如何，转速都不下降到低于下限阈值。例如，侧刷24能够被安排(假定机器人清洁设备10处于清洁模式)为始终以至少1转/s的速度旋转。
图5以底视图展示了安排有旋转侧刷24的机器人清洁设备10导航进出狭窄走廊中的两个角落的移动顺序a-f；
在图5(a)中，机器人清洁设备10通过向角落中引入的墙壁导航进入第一角落中。主体的前端壁面向从该角落引出的墙壁，而左侧壁(如从主体的顶部看到的)面向向该角落中引入的墙壁。如可以看到的，侧刷24触及就在这些墙壁处和该角落中的任何碎屑。
在图5(b)中，机器人清洁设备10旋转，从而使得弯曲的左侧壁跟随向第一角落中引入的墙壁，而前端壁在其外端之一跟随从该角落引出的墙壁，在图5(c)中，该旋转继续进行。应注意的是，右侧壁和左侧壁可以是平坦的，但弯曲的形状以更平滑的方式跟随墙壁。侧刷24有利地一直伸到该角落中。图5(d)示出了机器人清洁设备正在靠近第二角落，而图5(e)示出了侧刷24正在伸入第二角落。最后，在图5f中，清洁设备已经在第二角落中做90度转弯并且准备好追寻从该角落引出的墙壁，同时侧刷24平齐接触待追寻的墙壁，或者做一个90度转弯回到该第二角落中。
因此，如可以从图5中推断的，根据本发明的机器人清洁设备10有利地在角落和狭窄走廊导航，同时仍然导航得非常靠近引入和引出角落的墙壁，由此通过如上文阐述的那样控制侧刷24的旋转以一种有效的方式帮助在距离墙壁非常近的范围从地板去除碎屑。
以上已参考一些实施例主要描述了本发明。然而，本领域技术人员容易了解的是，除以上披露的实施例之外的其他实施例在由所附专利权利要求书限定的本发明的范围内同样是可能的。

Claims (12)

1.机器人清洁设备(10)，包括：
主体(11)；
被安排为使该机器人清洁设备(10)在有待清洁的表面上移动的推进系统(12，13，15a，15b)；
控制器(16)，该控制器被安排为控制该推进系统(12，13，15a，15b)使该机器人清洁设备在该有待清洁的表面上移动；
开口(17)，该开口在该主体的底侧中，经由该开口从该表面去除碎屑；以及
至少一个旋转侧刷(24)，该至少一个旋转侧刷被安排为邻近该开口(17)；
该控制器(16)被安排为记录该机器人清洁设备(10)在该有待清洁的表面上移动的速度，并且进一步基于该机器人清洁设备的所记录的移动速度控制该至少一个旋转侧刷(24)的转速；
该控制器(30)被安排为控制该至少一个旋转侧刷(24)的旋转方向，从而使得该侧刷的边缘上的相对于该开口(17)在远端的点(27)朝与该机器人清洁设备的移动方向相同的方向移动；
该控制器(16)被安排为控制该至少一个旋转侧刷(24)的旋转，从而使得不管该机器人清洁设备在该有待清洁的表面上移动的速度如何，都使该转速不下降到低于下限阈值。
2.如权利要求1所述的机器人清洁设备(10)，该至少一个旋转侧刷(24)被安排在该主体(11)的边缘处。
3.如权利要求1或2所述的机器人清洁设备(10)，该控制器(16)被安排为当该机器人清洁设备(10)的所记录的移动速度降低时使该至少一个旋转侧刷(24)的转速降低，并且当该机器人清洁设备(10)的所记录的移动速度增大时使该至少一个旋转侧刷(24)的转速增大。
4.如权利要求1所述的机器人清洁设备(10)，该控制器(16)被安排为控制该至少一个旋转侧刷(24)的旋转，从而使得该至少一个旋转侧刷的圆周转速与该机器人清洁设备在该有待清洁的表面上移动的速度相关。
5.如权利要求1所述的机器人清洁设备(10)，该控制器(16)被安排为控制该至少一个旋转侧刷(24)的旋转，从而使得使该至少一个旋转侧刷的圆周转速基本上等于或高于该机器人清洁设备在该有待清洁的表面上移动的速度。
6.如权利要求1所述的机器人清洁设备(10)，其中，该至少一个旋转侧刷包括：
侧向地安排在该开口(17)的每一侧的两个旋转侧刷(23，24)。
7.一种控制机器人清洁设备的至少一个旋转侧刷的旋转的方法，包括：
S101：控制该机器人清洁设备在有待清洁的表面上的移动；
S102：记录该机器人清洁设备在该表面上移动的速度；并且
S103：基于该机器人清洁设备的移动速度控制该至少一个侧刷的转速；
控制该至少一个旋转侧刷的旋转方向，从而使得该侧刷的边缘上的相对于开口在远端的点朝与该机器人清洁设备的移动方向相同的方向移动；
控制该至少一个侧刷的转速包括：
控制该至少一个旋转侧刷的旋转，从而使得不管该机器人清洁设备在该有待清洁的表面上移动的速度如何，该转速都不下降到低于下限阈值。
8.如权利要求7所述的方法，其中，控制该至少一个侧刷的转速包括：
S103a：当该机器人清洁设备的所记录的移动速度降低时，降低该至少一个旋转侧刷的转速；并且
S103b：当该机器人清洁设备的所记录的移动速度增大时，增大该至少一个旋转侧刷的转速。
9.如权利要求7或8所述的方法，其中，控制该至少一个侧刷的转速包括：
控制该至少一个旋转侧刷的旋转，从而使得该至少一个旋转侧刷的圆周转速与该机器人清洁设备在该有待清洁的表面上移动的速度相关。
10.如权利要求7所述的方法，其中，控制该至少一个侧刷的转速包括：
控制该至少一个旋转侧刷的旋转，从而使得该至少一个旋转侧刷的圆周转速等于或高于该机器人清洁设备在该有待清洁的表面上移动的速度。
11.一种电子设备(10)，其特征在于，包括：至少一个处理器(15)；其中，所述至少一个处理器能够执行如权利要求7至10任一项的所有步骤。
12.一种存储介质，其特征在于，所述存储介质存储计算机指令，当计算机执行所述计算机指令时，用于执行如权利要求7至10任一项的所有步骤。
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WO2015090403A1 (en) 2015-06-25
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