CN106239528A - The path cleaning method of sweeping robot, Apparatus and system - Google Patents
The path cleaning method of sweeping robot, Apparatus and system Download PDFInfo
- Publication number
- CN106239528A CN106239528A CN201610779422.2A CN201610779422A CN106239528A CN 106239528 A CN106239528 A CN 106239528A CN 201610779422 A CN201610779422 A CN 201610779422A CN 106239528 A CN106239528 A CN 106239528A
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- sweeping robot
- path
- yaw angle
- preset direction
- cleans
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses the path cleaning method of a kind of sweeping robot, Apparatus and system, relate to robotics, described method includes: obtain the yaw angle of sweeping robot in real time；The cleaning path of described sweeping robot is controlled, so that described sweeping robot carries out path cleaning according to bow vee path V according to described yaw angle.The present invention controls the cleaning path of described sweeping robot by yaw angle, so that described sweeping robot carries out path cleaning according to bow vee path V, thus avoid sweeping robot to utilize the code-disc that tests the speed on left and right rows driving wheel to carry out bending font and clean, existing straight line is walked not straight, and encounters the problem that barrier cantle vee path V just lost efficacy.
Description
Technical field
The present invention relates to robotics, particularly to the path cleaning method of a kind of sweeping robot, device and
System.
Background technology
Sweeping robot cleans path major part and uses random algorithm at present, is detected by impact head or distance measuring sensor
Behind wall limit, turn around or turn round to take the air line again, embed again in a period of time and walk along wall, generally there is the problem that coverage rate is low.
Some sweeper utilizes the code-disc that tests the speed on left and right rows driving wheel to carry out bending font and cleans, but there is straight line and walk not straight,
Encounter the problem that barrier cantle vee path V just lost efficacy.
Summary of the invention
In view of the above problems, it is proposed that the present invention in case provide one overcome the problems referred to above or at least in part solve on
State the path cleaning method of a kind of sweeping robot of problem, Apparatus and system.
According to the first aspect of the invention, it is provided that the path cleaning method of a kind of sweeping robot, described method bag
Include:
Obtain the yaw angle of sweeping robot in real time；
The cleaning path of described sweeping robot is controlled, so that described sweeping robot is according to bow word according to described yaw angle
Shape path carries out path cleaning.
Alternatively, the described cleaning path controlling described sweeping robot according to described yaw angle, so that described sweeper
Device people carries out path cleaning according to bow vee path V, farther includes:
Control described sweeping robot according to described yaw angle to clean along preset direction, until described sweeping robot
Move the first predeterminable range；
Control described sweeping robot edge according to described yaw angle to clean with the direction that described preset direction is 90 degree,
Until described sweeping robot moves to the first obstacle be at the second predeterminable range；
Control described sweeping robot according to described yaw angle to clean along described preset direction, until described sweeper
Device people moves the 3rd predeterminable range；
Clean along the rightabout of described preset direction according to the described yaw angle described sweeping robot of control, until
The motion of described sweeping robot is at the 4th predeterminable range as the second obstacle.
Alternatively, described control described sweeping robot according to described yaw angle and enter along the rightabout of described preset direction
Row clean, until described sweeping robot motion as the second barrier be at the 4th predeterminable range after, described method is also wrapped
Include:
Return described according to described yaw angle control described sweeping robot clean along preset direction, until described in sweep
Floor-washing robot moves the step of the first predeterminable range.
Alternatively, described preset direction be the direction parallel with described first obstacle or with described first obstacle in advance
If the direction of angle.
According to the second aspect of the invention, it is provided that the path clearing apparatus of a kind of sweeping robot, described device bag
Include:
Angle acquiring unit, for the yaw angle of acquisition sweeping robot in real time；
Path cleaning unit, for controlling the cleaning path of described sweeping robot according to described yaw angle, so that described
Sweeping robot carries out path cleaning according to bow vee path V.
Alternatively, described path cleaning unit, farther include:
First cleans module, cleans along preset direction for controlling described sweeping robot according to described yaw angle,
The first predeterminable range until described sweeping robot moves；
Second cleans module, is 90 for controlling described sweeping robot edge according to described yaw angle with described preset direction
The direction of degree cleans, until described sweeping robot moves to the first obstacle be at the second predeterminable range；
3rd cleans module, carries out clearly along described preset direction for controlling described sweeping robot according to described yaw angle
Sweep, until described sweeping robot motion the 3rd predeterminable range；
4th cleans module, for controlling contrary along described preset direction of described sweeping robot according to described yaw angle
Direction cleans, until the motion of described sweeping robot is at the 4th predeterminable range as the second obstacle.
Alternatively, described path cleaning unit also includes:
Calling module, is used for calling described first and cleans module.
Alternatively, described preset direction be the direction parallel with described first obstacle or with described first obstacle in advance
If the direction of angle.
According to the third aspect of the invention, it is provided that the path purging system of a kind of sweeping robot, described path is clear
The system of sweeping includes: described device.
Alternatively, described system also includes: gyroscope and sweeping robot left and right wheels；
Described gyroscope, for gathering the yaw angle of described sweeping robot, and sends the yaw angle gathered to described
Device；
Described sweeping robot left and right wheels, for receiving the control instruction of described device, to control described sweeping robot
The direction of motion.
The present invention controls the cleaning path of described sweeping robot by yaw angle, so that described sweeping robot is according to bow
Vee path V carries out path cleaning, thus it is clear to avoid sweeping robot to utilize the code-disc that tests the speed on left and right rows driving wheel to carry out bending font
Sweeping, existing straight line is walked not straight, and encounters the problem that barrier cantle vee path V just lost efficacy.
Accompanying drawing explanation
By reading the detailed description of hereafter preferred implementation, various other advantage and benefit common for this area
Technical staff will be clear from understanding.Accompanying drawing is only used for illustrating the purpose of preferred implementation, and is not considered as the present invention
Restriction.And in whole accompanying drawing, it is denoted by the same reference numerals identical parts.In the accompanying drawings:
Fig. 1 is the flow chart of the path cleaning method of the sweeping robot of an embodiment of the present invention；
Fig. 2 is the schematic diagram of three direction gained angles of three-axis gyroscope；
Fig. 3 is the schematic diagram that bow font cleans step；
Fig. 4 is that the first bends the path schematic diagram that font cleans on a large scale；
Fig. 5 is the path schematic diagram that the second bends that font cleans on a large scale；
Fig. 6 is the path schematic diagram that little scope bow font cleans；
Fig. 7 is around the path schematic diagram that during barrier, little scope bow font cleans；
Fig. 8 is the structured flowchart of the path clearing apparatus of the sweeping robot of an embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, the detailed description of the invention of the present invention is described in further detail.Hereinafter implement
Example is used for illustrating the present invention, but is not limited to the scope of the present invention.
Fig. 1 is the flow chart of the path cleaning method of the sweeping robot of an embodiment of the present invention；With reference to Fig. 1, described
Method includes:
S101: obtain the yaw angle of sweeping robot in real time；
It should be noted that the executive agent of the method for present embodiment is controller, described controller is for sweeping the floor
The walking of robot is controlled, and it can be arranged in described robot, i.e. as the control device of described sweeping robot,
Can also be not provided with on described sweeping robot, and by the way of remotely control, control described sweeping robot walk, when
So, can be also the parts of other similar functions, this be any limitation as by present embodiment.
Fig. 2 is the schematic diagram of three direction gained angles of three-axis gyroscope；With reference to Fig. 2, three direction gained angles are respectively
For: pitch, yaw and roll, wherein, pitch is around X-axis and rotates, the also referred to as angle of pitch；Yaw is around Y-axis and rotates, and also cries
Yaw angle；Roll is around Z axis and rotates, and is also roll angle；So, the yaw angle in present embodiment can pass through three-axis gyroscope
Obtaining, certainly, other sensors also can be used to obtain, this is not any limitation as by present embodiment.
Along with gyroscope popularizing at the product for civilian use, within the price of gyroscope enters into 10 RMB, a small amount of increasing
In the case of cost, sweeping efficiency can be improved a lot.
S102: control the cleaning path of described sweeping robot according to described yaw angle, so that described sweeping robot is pressed
Path cleaning is carried out according to bow vee path V.
In implementing, with reference to Fig. 3, step S102 can be realized by following steps A～D:
Step A: according to described yaw angle control described sweeping robot clean along preset direction, until described in sweep the floor
Robot motion's the first predeterminable range；
For the straight line of certain fixed range, be equivalent to stepping information, generally robot and clean width.General Background is
Step when body of wall, it is assumed that for distance along_dist；Directional information along_theta.
Concrete, described preset direction can be the direction parallel with described first obstacle, it is possible to for hindering with described first
Block material is the direction of predetermined angle.
Described first obstacle can be body of wall, and again or other obstacles, this is not any limitation as by present embodiment.
Step B: control described sweeping robot along entering with the direction that described preset direction is 90 degree according to described yaw angle
Row cleans, until described sweeping robot moves to the first obstacle be at the second predeterminable range；
For leaving the step of body of wall.Terminate after arriving the body of wall on opposite or reaching some fixing distance, it is assumed that away from
From for leave_dist；Directional information leave_theta.
Step C: control described sweeping robot according to described yaw angle and clean along described preset direction, until described
Sweeping robot motion the 3rd predeterminable range；
It is generally equivalent to robot and cleans width, it is assumed that distance is parallel_dist；Directional information parallel_
theta。
Step D: carry out clearly along the rightabout of described preset direction according to the described yaw angle described sweeping robot of control
Sweep, until the motion of described sweeping robot is at the 4th predeterminable range as the second obstacle.
For convergence and the step of body of wall during step A, it is generally equivalent to leave distance during body of wall, it is assumed that distance is close_
dist；Directional information close_theta；Close_theta=leave_theta+180；
For ensureing the continuous-cleaning of bow vee path V, step A can be returned after step D.
Present embodiment controls the cleaning path of described sweeping robot by yaw angle, so that described sweeping robot is pressed
Carry out path cleaning according to bow vee path V, thus avoid sweeping robot to utilize the code-disc that tests the speed on left and right rows driving wheel to carry out bending word
Shape cleans, and existing straight line is walked not straight, and encounters the problem that barrier cantle vee path V just lost efficacy.
Fig. 4～5 is the path schematic diagram that bow font cleans on a large scale, when bending the path cleaning of font on a large scale,
Leave_theta and close_theta fixes, and the value of leave_dist can be set as bigger value as required, such as 5 meters
Left and right.
Fig. 6 is the path schematic diagram that little scope bow font cleans, and little scope bow font cleans and bends font, meaning for wall limit, edge
Think of is exactly that step A patch wall is walked, and when little scope bow font cleans, along_theta is about the direction of body of wall, leave_
Theta=(along_theta 90), i.e. step B is perpendicular to step A and leaves body of wall.The leave_dist mono-of little scope bow font
As less, such as about 1.5 meters.
Fig. 7 is around the path schematic diagram that during barrier, little scope bow font cleans, when the along_theta of B point is
During the along_theta+360 of initial point A point, then it is assumed that carried out the cleaning of a circle around barrier, the most then to have left this
Barrier, needs to find a new wall, starts to clean.
For sweeping robot carries out the mode planning cleaned, after can starting working, bend font the most on a large scale
Clean, when the along_theta bending step A that font cleans is more than 90 degree with along_theta difference before, then it is assumed that
Bow font arrives limit the most on a large scale, bends the direction of font, along_theta=along_theta0+90 more preferably.For the second time
Bending font on a large scale to clean, bow font cleans and can carry out repeatedly on a large scale.
After having carried out bending font the most on a large scale, enter little scope bow font cleaning modes, clear at little scope bow font
When sweeping, whether machine to be confirmed is around certain barrier carries out repeating to clean, the changing value of recordable along_theta,
If along_theta is accumulative i.e. adds 360 degree around outer ring one week, then it is believed that machine is around barrier in cleaning, this
Time should depart from barrier, find new body of wall, carry out little scope bow font clean.
After little scope bow font has carried out a period of time, can enter and clean along wall, clean the region near body of wall.
For method embodiment, in order to be briefly described, therefore it is all expressed as a series of combination of actions, but ability
Field technique personnel should know, embodiment of the present invention is not limited by described sequence of movement, because according to the present invention
Embodiment, some step can use other orders or carry out simultaneously.Secondly, those skilled in the art also should know,
Embodiment described in this description belongs to preferred implementation, involved action embodiment party the most of the present invention
Necessary to formula.
Fig. 8 is the structured flowchart of the path clearing apparatus of the sweeping robot of an embodiment of the present invention；With reference to Fig. 8, institute
State device to include:
Angle acquiring unit 801, for the yaw angle of acquisition sweeping robot in real time；
Path cleaning unit 802, for controlling the cleaning path of described sweeping robot according to described yaw angle, so that institute
State sweeping robot and carry out path cleaning according to bow vee path V.
In a kind of optional embodiment of the present invention, described path cleaning unit, farther include:
First cleans module, cleans along preset direction for controlling described sweeping robot according to described yaw angle,
The first predeterminable range until described sweeping robot moves；
Second cleans module, is 90 for controlling described sweeping robot edge according to described yaw angle with described preset direction
The direction of degree cleans, until described sweeping robot moves to the first obstacle be at the second predeterminable range；
3rd cleans module, carries out clearly along described preset direction for controlling described sweeping robot according to described yaw angle
Sweep, until described sweeping robot motion the 3rd predeterminable range；
4th cleans module, for controlling contrary along described preset direction of described sweeping robot according to described yaw angle
Direction cleans, until the motion of described sweeping robot is at the 4th predeterminable range as the second obstacle.
In a kind of optional embodiment of the present invention, described path cleaning unit also includes:
Calling module, is used for calling described first and cleans module.
In a kind of optional embodiment of the present invention, described preset direction be the direction parallel with described first obstacle or
It is the direction of predetermined angle with described first obstacle.
The invention also discloses the path purging system of a kind of sweeping robot, described path purging system includes: described
Device.
In a kind of optional embodiment of the present invention, described system also includes: gyroscope and sweeping robot left and right wheels；
Described gyroscope, for gathering the yaw angle of described sweeping robot, and sends the yaw angle gathered to described
Device；
Described sweeping robot left and right wheels, for receiving the control instruction of described device, to control described sweeping robot
The direction of motion.
For Apparatus and system embodiment, due to itself and method embodiment basic simlarity, so the ratio described
Relatively simple, relevant part sees the part of method embodiment and illustrates.
It should be noted that, in all parts of assembly of the invention, the function to be realized according to it and to therein
Parts have carried out logical partitioning, but, the present invention is not only restricted to this, can as required all parts be repartitioned or
Person combines.
The all parts embodiment of the present invention can realize with hardware, or to transport on one or more processor
The software module of row realizes, or realizes with combinations thereof.In this device, PC is by realizing the Internet to equipment or device
Remotely control, control equipment or the step of each operation of device accurately.The present invention is also implemented as performing here
Part or all equipment of described method or device program (such as, computer program and computer program product
Product).It is achieved in that the program of the present invention can store on a computer-readable medium, and the file or document tool that program produces
Have and statistically can produce data report etc..It should be noted above-mentioned embodiment the present invention will be described rather than to this
Invention limits, and those skilled in the art can design replacement without departing from the scope of the appended claims
Embodiment.In the claims, any reference marks that should not will be located between bracket is configured to limitations on claims.
Word " comprises " and does not excludes the presence of the element or step not arranged in the claims.It is positioned at the word " " or " before element
Individual " do not exclude the presence of multiple such element.The present invention can by means of include some different elements hardware and by
Realize in properly programmed computer.If in the unit claim listing dry systems, several in these systems
Can be specifically to be embodied by same hardware branch.Word first, second and third use do not indicate that any suitable
Sequence.Can be title by these word explanations.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, common about technical field
Technical staff, without departing from the spirit and scope of the present invention, it is also possible to make a variety of changes and modification, therefore own
The technical scheme of equivalent falls within scope of the invention, and the scope of patent protection of the present invention should be defined by the claims.
Claims (10)
1. the path cleaning method of a sweeping robot, it is characterised in that described method includes:
Obtain the yaw angle of sweeping robot in real time；
The cleaning path of described sweeping robot is controlled, so that described sweeping robot is according to bow font road according to described yaw angle
Footpath carries out path cleaning.
2. the method for claim 1, it is characterised in that described control described sweeping robot according to described yaw angle
Clean path, so that described sweeping robot carries out path cleaning according to bow vee path V, farther include:
Control described sweeping robot according to described yaw angle to clean along preset direction, until the motion of described sweeping robot
First predeterminable range；
Control described sweeping robot edge according to described yaw angle to clean with the direction that described preset direction is 90 degree, until
It is at the second predeterminable range that described sweeping robot moves to the first obstacle；
Control described sweeping robot according to described yaw angle to clean along described preset direction, until described sweeping robot
Move the 3rd predeterminable range；
Clean along the rightabout of described preset direction according to the described yaw angle described sweeping robot of control, until described
Sweeping robot motion is at the 4th predeterminable range as the second obstacle.
3. method as claimed in claim 2, it is characterised in that described according to the described sweeping robot edge of described yaw angle control
The rightabout of described preset direction cleans, until described sweeping robot motion as the second barrier be the 4th preset
After distance, described method also includes:
Return and described control described sweeping robot according to described yaw angle and clean along preset direction, until described sweeper
Device people moves the step of the first predeterminable range.
4. method as claimed in claim 2, it is characterised in that described preset direction is the side parallel with described first obstacle
To or be the direction of predetermined angle with described first obstacle.
5. the path clearing apparatus of a sweeping robot, it is characterised in that described device includes:
Angle acquiring unit, for the yaw angle of acquisition sweeping robot in real time；
Path cleaning unit, for according to described yaw angle control described sweeping robot cleaning path so that described in sweep the floor
Robot carries out path cleaning according to bow vee path V.
6. device as claimed in claim 5, it is characterised in that described path cleaning unit, farther includes:
First cleans module, cleans along preset direction for controlling described sweeping robot according to described yaw angle, until
Described sweeping robot moves the first predeterminable range；
Second cleans module, is 90 degree for controlling described sweeping robot edge according to described yaw angle with described preset direction
Direction cleans, until described sweeping robot moves to the first obstacle be at the second predeterminable range；
3rd cleans module, cleans along described preset direction for controlling described sweeping robot according to described yaw angle,
Until described sweeping robot motion the 3rd predeterminable range；
4th cleans module, for controlling the described sweeping robot rightabout along described preset direction according to described yaw angle
Clean, until the motion of described sweeping robot is at the 4th predeterminable range as the second obstacle.
7. device as claimed in claim 6, it is characterised in that described path cleaning unit also includes:
Calling module, is used for calling described first and cleans module.
8. device as claimed in claim 6, it is characterised in that described preset direction is the side parallel with described first obstacle
To or be the direction of predetermined angle with described first obstacle.
9. the path purging system of a sweeping robot, it is characterised in that described path purging system includes: claim 5
～the device according to any one of 8.
10. system as claimed in claim 9, it is characterised in that described system also includes: about gyroscope and sweeping robot
Wheel；
Described gyroscope, for gathering the yaw angle of described sweeping robot, and sends the yaw angle gathered to described device；
Described sweeping robot left and right wheels, for receiving the control instruction of described device, to control the fortune of described sweeping robot
Dynamic direction.
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| CN106970623A (en) * | 2017-04-18 | 2017-07-21 | 杭州匠龙机器人科技有限公司 | Intelligent cleaning device and its trellis paths operational method |
| CN107450569A (en) * | 2017-09-27 | 2017-12-08 | 上海思岚科技有限公司 | The control method and equipment of a kind of sweeping robot |
| CN107678429A (en) * | 2017-09-26 | 2018-02-09 | 珠海市微半导体有限公司 | The control method and chip of a kind of robot |
| CN108762246A (en) * | 2018-04-21 | 2018-11-06 | 广东宝乐机器人股份有限公司 | Obstacle determination method for mobile robot, storage medium, and mobile robot |
| CN108873889A (en) * | 2018-05-14 | 2018-11-23 | 北京石头世纪科技有限公司 | Intelligent mobile equipment and its controlling of path thereof, computer readable storage medium |
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