CN106970625A - Drive device and method - Google Patents
Drive device and method Download PDFInfo
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- CN106970625A CN106970625A CN201710286642.6A CN201710286642A CN106970625A CN 106970625 A CN106970625 A CN 106970625A CN 201710286642 A CN201710286642 A CN 201710286642A CN 106970625 A CN106970625 A CN 106970625A
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- China
- Prior art keywords
- clean robot
- cleaning
- fuselage
- sensor
- flank
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a kind of drive device and method.The drive device includes：At least two rotating cleaning devices, below the fuselage of clean robot, and are walked by clean robot described in the friction rotation driving with contact surface；Sensor device, for detecting ambient parameter and the clean robot kinematic parameter of itself；Control device, the rotary motion for controlling at least two rotating cleaning device according to the ambient parameter and/or kinematic parameter.
Description
Technical field
This disclosure relates to robotic technology field, more particularly to a kind of drive device and method.
Background technology
Clean robot can be automatically completed cleaning work, be that people save substantial amounts of time and efforts, therefore clearly
Clean robot is produced and come into operation into the life staying idle at home of people more and more.But clean robot currently on the market, especially
It is that, using double crawler travels and steering mode more than mopping robot, the cleaning mode cleaning of this flat push type is not thorough,
Easily cause dirt residual.
The content of the invention
An aspect of this disclosure provides a kind of drive device, including：
At least two rotating cleaning devices, below the fuselage of clean robot, and pass through the friction with contact surface
Clean robot described in rotation driving is walked；
Sensor device, for detecting ambient parameter and the clean robot kinematic parameter of itself；
Control device, for controlling at least two spin-cleaning according to the ambient parameter and/or kinematic parameter
The rotary motion of device.
Alternatively, the drive device also includes：
The cleaning assemblies at least two rotating cleaning devices surface is removably mounted to, for described at least two
The contact surface is cleaned during individual rotating cleaning device and contact surface friction rotation.
Alternatively, the sensor device includes at least one of：
Speed probe, the walking of corner and clean robot for detecting at least two rotating cleaning device
Speed；
Collision detection sensor, the collision status for detecting the clean robot；
Hanging detection sensor, the vacant state for detecting the clean robot；
Ambient light sensor, the light intensity for detecting the clean robot local environment.
Alternatively, the collision detection sensor includes optical inductor and obstacle Photoelectric Detection shadow shield；
The optical inductor is installed on the fuselage side of the clean robot, and the obstacle Photoelectric Detection shadow shield is located at
On the fuselage flank of the clean robot, and it is relative with the position of the optical inductor；The fuselage flank and the cleaning
Robot fuselage elastic connection.
Alternatively, the hanging detection sensor includes reflective sensor and reflector；The reflective sensor is located at
The bottom of the fuselage flank of the clean robot, the reflector be located at the clean robot fuselage drain pan, and with institute
The position for stating reflective sensor is relative；The fuselage flank of the clean robot and the clean robot fuselage elastic connection.
Alternatively, the optical inductor includes four, is separately positioned on left side front, the left side of the clean robot fuselage
In front of side rear, right side and right side rear；
The reflective sensor include four, be separately positioned on the clean robot fuselage flank left front bottom,
Left back bottom, right front bottom and right back bottom.
Alternatively, the collision detection sensor also includes drag loading detection sensor, for detecting described at least two
The load current of individual rotating cleaning device, to determine the extruding failure condition of the clean robot body upper.
According to another aspect of the present disclosure there is provided a kind of driving method, including：
Obtain the ambient parameter and the clean robot kinematic parameter of itself of clean robot local environment；It is described
At least two rotating cleaning devices are installed below the fuselage of clean robot；
The rotary motion of at least two rotating cleaning device is controlled according to the ambient parameter and/or kinematic parameter.
Alternatively, the ambient parameter and the clean robot fortune of itself for obtaining clean robot local environment
Dynamic parameter, including at least one of：
Obtain direction of rotation and the rotary speed of at least two rotating cleaning device；
Obtain the collision status, vacant state and environmental light intensity of the clean robot.
Alternatively, the rotation of at least two rotating cleaning device is controlled according to the ambient parameter and/or kinematic parameter
Transhipment is dynamic, including：
The clean robot is controlled to be run in automated cleaning mode according to the ambient parameter and/or kinematic parameter, institute
State automated cleaning mode clear along cleaning mode, straight trip cleaning mode, rapid cleaning mode, swing including emphasis cleaning mode, wall
One or more in clean mode.
Brief description of the drawings
In order to be more fully understood from the disclosure and its advantage, referring now to the following description with reference to accompanying drawing, wherein：
Fig. 1 shows the structural representation of the drive device of clean robot in the exemplary embodiment of the disclosure one；
Fig. 2 shows the mechanical structure of the clean robot using dual rotary cleaning head in the exemplary embodiment of the disclosure one
Schematic diagram；
Fig. 3 shows in the exemplary embodiment of the disclosure one detection of obstacles principle schematic in drive device；
Fig. 4 shows in the exemplary embodiment of the disclosure one hanging Cleaning Principle schematic diagram in drive device；
Fig. 5 shows the driving method flow chart of clean robot in the exemplary embodiment of the disclosure one；
Fig. 6 shows the structural representation of control device 103 in the exemplary embodiment of the disclosure one.
Embodiment
According to reference to accompanying drawing to the described in detail below of disclosure exemplary embodiment, other side, the advantage of the disclosure
It is will become obvious with prominent features for those skilled in the art.
In the disclosure, term " comprising " and " containing " and its derivative mean including and it is unrestricted；Term "or" is bag
Containing property, mean and/or.
In this manual, following various embodiments for being used to describe disclosure principle are explanation, should not be with any
Mode is construed to the scope of limitation invention.Referring to the drawings described below is used to help comprehensive understanding by claim and its equivalent
The exemplary embodiment for the disclosure that thing is limited.It is described below to help to understand including a variety of details, but these details should
Think what is be merely exemplary.Therefore, it will be appreciated by those of ordinary skill in the art that without departing substantially from the scope of the present disclosure and spirit
In the case of, embodiment described herein can be made various changes and modifications.In addition, for clarity and brevity,
Eliminate the description of known function and structure.In addition, through accompanying drawing, same reference numbers are used for identity function and operation.
Shown in the drawings of some block diagrams and/or flow chart.It should be understood that some sides in block diagram and/or flow chart
Frame or its combination can be realized by computer program instructions.These computer program instructions can be supplied to all-purpose computer,
The processor of special-purpose computer or other programmable data processing units, so that these instructions can be with when by the computing device
Create the device for realizing function/operation illustrated in these block diagrams and/or flow chart.
Therefore, the technology of the disclosure can be realized in the form of hardware and/or software (including firmware, microcode etc.).Separately
Outside, the technology of the disclosure can take the form of the computer program product on the computer-readable medium for the instruction that is stored with, should
Computer program product is available for instruction execution system to use.In the context of the disclosure, computer-readable medium can be energy
Enough include, store, transmit, propagate or transmit the arbitrary medium of instruction.For example, computer-readable medium can include but is not limited to
Electricity, magnetic, optical, electromagnetic, infrared or semiconductor system, device, device or propagation medium.The specific example bag of computer-readable medium
Include：Magnetic memory apparatus, such as tape or hard disk (HDD)；Light storage device, such as CD (CD-ROM)；Memory, such as arbitrary access are deposited
Reservoir (RAM) or flash memory；And/or wire/wireless communication link.
According to the embodiment of the present disclosure there is provided a kind of drive device, it is by detecting clean robot local environment parameter
And the kinematic parameter of clean robot, and at least two choosings according to these driving parameters below clean robot fuselage
Dress cleaning device is rotated, and then drives the track route of clean robot., can be with by this mode of the disclosure
Driving clean robot completes cleaning while clean robot walking is driven, and also drives the walking of sweeping robot
Dynamic and cleaning driving combines, and simplifies the drive device of clean robot, saves cost.
Fig. 1 is the structural representation according to the drive device of clean robot in the exemplary embodiment of the disclosure one.Such as Fig. 1
Shown, the drive device includes：
At least two rotating cleaning devices 101, below the fuselage of clean robot, and by being rubbed with contact surface
Wipe clean robot walking described in rotation driving；
Sensor device 102, for detecting ambient parameter and the clean robot kinematic parameter of itself；
Control device 103, for clear according at least two rotation of the ambient parameter and/or kinematic parameter control
The rotary motion of clean device.
In the present embodiment, at least two rotational energy cleaning devices 101, the first spin-cleaning are installed below clean robot
Device and the second rotating cleaning device are arranged on the lower section of clean robot fuselage, in cleaning process, by with contact surface such as
The friction rotation on ground can drive clean robot to be walked towards any direction.
Fig. 2 diagrammatically illustrates the mechanical structure signal of the clean robot using dual rotary cleaning head in an embodiment
Figure.As shown in Fig. 2 the first spin-cleaning first 81 and the second spin-cleaning first 82 are arranged on below fuselage, the first spin-cleaning head
81 are driven by the first motor 71, and the second spin-cleaning first 82 is driven by the second motor 72, the He of the first motor 71
Second motor 72 distinguishes the drive control of controlled device 6, and then drives the first spin-cleaning first 81 and the second spin-cleaning
First 82 are rotated.Fig. 2 is only exemplary, it is to be understood that rotating cleaning device it can also be provided that three or
More than three.When cleaning header structure using dual rotary as shown in Figure 2, frictional force when being rotated using cleaning head between ground
Make a concerted effort as driving power, walked by the rotation driving complete machine for setting different directions and friction speed towards predetermined direction,
By installing cleaning assemblies such as rag etc. on cleaning head, the scouring on ground can be completed while clean robot is walked
Cleaning.For example, control the first spin-cleaning first 81 clockwise turn, first 82 rotate counterclockwise of the second spin-cleaning and both turn
When speed is equal, driving clean robot advances, and both rotating speed speeds determine clean robot pace size；Control first
First 81 rotate counterclockwise of spin-cleaning, when the second spin-cleaning first 82 turns clockwise and both rotating speeds are equal, drives cleaner
Device people walks towards the rear, and both rotating speed speeds determine clean robot astern speed size；Control the first spin-cleaning first 81
Rotate or stop the rotation at a slow speed clockwise, the quick rotation then driving clean robot left-hand rotation counterclockwise of the second spin-cleaning first 82
To；The quick rotation clockwise of the first spin-cleaning first 81 is controlled, the second spin-cleaning first 82 rotates at a slow speed or stopped rotation counterclockwise
Turn, then can drive clean robot right turn.Only it is citing herein, it is to be understood that it can also be rotated by driving
The walking of his mode only any direction.
From the embodiment shown in Fig. 2 as can be seen that being additionally provided with starting switch 1, honeybee on clean robot fuselage upper casing 10
Ring device 2 and environment light sensation and indicator lamp 3, it is to be understood that Fig. 2 is only a kind of embodiment, can be changed according to the actual requirements
Become, increase or decrease these structure settings.
In one embodiment, ambient parameter includes the physical parameter in clean robot local environment, such as light intensity, surrounding
Whether barrier etc. is had, and kinematic parameter includes motion state, speed, direction of clean robot itself etc..By in cleaner
Various detection sensors are set on device people, to detect corresponding parameter, so as to according to fortune of these parameters to clean robot
It is dynamic to be controlled.
In one embodiment, control device 103 passes through various settings and cleaner as the brain of clean robot
The motion for the state modulator clean robot that the upper sensor device 102 of device people is detected.Control device 103 can include micro-control
Coremaking piece, data signal acquisition, algorithm routine, control driving output etc..At least two spin-cleanings dress on clean robot
The rotation for putting 101 is controlled by control device 103, and controller is obtaining various ambient parameters and clean robot
Kinematic parameter after, the rotary motion of at least two rotating cleaning devices is controlled according to ambient parameter and/or kinematic parameter, and then
Driving clean robot is walked according to set route and completes cleaning.For example, before being perceived by sensor device 102
When there is barrier side, direction of rotation and rotary speed of the control device 103 by least two rotating cleaning devices 101 of change
Deng the track route of change clean robot, with avoiding obstacles.For another example by least two rotating cleaning devices 101
Motor in set photoelectric code disk speed probe, to detect the rotating speed of two rotating cleaning devices 101, and then by controlling
Device device 103 processed is calculated by the rotating speed of two rotating cleaning devices and the duration of runs and obtains at least two rotating cleaning devices
101 corner and the speed of travel of clean robot.
In one embodiment, the cleaning assemblies at least two rotating cleaning devices surface is removably mounted to, is used
The contact surface is cleaned during being rotated at least two rotating cleaning device and contact surface friction.At least two
Cleaning assemblies such as towel etc. is installed on individual rotating cleaning device, in clean robot walking process, at least two rotations are utilized
The function on cleaning ground can both be realized by turning the friction between cleaning device and ground, can be simultaneously reached the purpose of walking.Often
It is separately installed on individual rotating cleaning device to have cleaning assemblies, it can dismantle, to be cleaned to it.Cleaning assemblies can be covered
Cover the towel or the hair around at least two rotating cleaning devices at least two rotating cleaning device surfaces
Brush, dust suction subassembly etc., can specifically be configured according to actual conditions.
In one embodiment, sensor device 102 includes at least one of：Speed probe, for detect it is described extremely
The corner of few two rotating cleaning devices and the speed of travel of clean robot；Collision detection sensor, it is described for detecting
The collision status of clean robot；Hanging detection sensor, the vacant state for detecting the clean robot；Ambient light is passed
Sensor, the light intensity for detecting the clean robot local environment.
In one embodiment, speed probe can be the photoelectricity set in the motor of rotating cleaning device 101
Code-disc speed probe, the rotating speed for detecting two rotating cleaning devices 101, and then pass through two by control device 103
The rotating speed of individual rotating cleaning device 101 and the duration of runs calculate corner and the cleaning for obtaining at least two rotating cleaning devices
The speed of travel of robot.
In one embodiment, the collision detection sensor includes optical inductor and obstacle Photoelectric Detection shadow shield；Institute
The fuselage side that optical inductor is installed on the clean robot is stated, the obstacle Photoelectric Detection shadow shield is located at the cleaner
On the fuselage flank of device people, and it is relative with the position of the optical inductor；The fuselage flank and the clean robot fuselage
Elastic connection.
As shown in Fig. 2 four optical inductors are installed in the side of clean robot fuselage, the first optical inductor 41,
Two optical inductors 42, the 3rd optical inductor 43 and the 4th optical inductor 44 are separately mounted to before the left side of clean robot fuselage
Side, left side rear, right side front and right side rear.Clean robot fuselage front and rear sides are provided with two flanks, the first flank
91 are located on front side of fuselage, and the second flank 92 is located on rear side of fuselage, and the first flank 91 and the second flank 92 are installed on fuselage, are formed
Fuselage upper casing 10 is additionally provided with above complete fuselage side casing, side casing, lower section is provided with fuselage lower casing, fuselage upper casing
10th, together with fuselage lower casing is matchingly installed with the first flank 91, the second flank 92, protection shell is formed.First flank 91,
The fuselage elastic connection of two flanks 92 and clean robot.Distinguish corresponding with the second optical inductor 42, the 3rd optical inductor 43
Second obstacle Photoelectric Detection shadow shield, the 3rd obstacle Photoelectric Detection shadow shield are located at the inner side of the first flank 91, and with the second light sensation
Answer device 42, the position of the 3rd optical inductor 43 relative, with the first optical inductor 41, the corresponding first obstacle light of the 3rd optical inductor 43
Electro-detection shadow shield and the 4th obstacle Photoelectric Detection shadow shield are located at the inner side of the second flank 92, and with the first optical inductor 41,
The position of 3rd optical inductor 43 is relative.In one embodiment, optical inductor can be Sun-shading type photoelectric sensor, the first flank
91st, an elastic device, such as spring, elastic sheet rubber can be set between the second flank 91 and fuselage so that the first flank 91, the
Two flanks 92 are removable with respect to fuselage when being acted on by external force, and then to be examined by the first obstacle photoelectricity that external force makees use
Shadow shield, the second obstacle Photoelectric Detection shadow shield, the 3rd obstacle Photoelectric Detection shadow shield and/or the 4th obstacle Photoelectric Detection is surveyed to hide
Tabula rasa covers the light-path of corresponding optical inductor to fuselage excitement so that optical inductor senses a shielding signals.
As shown in figure 3, for the first optical inductor 41 for being arranged on left front, under clear state, light sensation
Answering has a certain distance between device and obstacle Photoelectric Detection shadow shield, have on right side under barrier state, due to obstacle photoelectricity
Detection shadow shield is extruded by right side barrier, is moved inward after certain distance, the light-path of optical inductor is interdicted, at this moment
Optical inductor receives a shielding signals, controller can the institute based on this shielding signals and the first optical inductor 41 it is in place
The position for determining barrier is put in left front.Similarly, in the state of there is a barrier left front, because flank is by right side barrier
Extruding, move inward after certain distance, the light-path of optical inductor interdicted, at this moment optical inductor receives shading letter
Number, controller can determine the position of barrier on a left side based on the position of this shielding signals and the first optical inductor 41
Front.
It can be seen that, as shown in Fig. 2 the collision detection sensor that the first optical inductor 41 and the first flank 91 are constituted can be examined
Survey the barrier in the surrounding orientation of angle 1/4 on the left of clean robot fuselage and between front, the second optical inductor 42 and first
The collision detection sensor that flank 91 is constituted can detect the surrounding orientation of angle 1/4 on the left of clean robot fuselage and between rear
The collision detection sensor that barrier, the 3rd optical inductor 43 and the second flank 92 are constituted can detect clean robot fuselage
The collision inspection that the surrounding orientation barrier of angle 1/4 between right side and front, the 4th optical inductor 44 and the second flank 92 are constituted
The surrounding orientation barrier of angle 1/4 on the right side of clean robot fuselage and between rear can be detected by surveying sensor.
In one embodiment, the hanging detection sensor includes reflective sensor and reflector；The reflective sensing
Device is located at the bottom of the fuselage flank of the clean robot, and the reflector is located at the drain pan of the clean robot fuselage,
And it is relative with the position of the reflective sensor；The fuselage flank of the clean robot and clean robot fuselage elasticity
Connection.
Embodiment as shown in Figure 2, reflective inductor includes four, the first reflective inductor 51, the second reflective inductor
52nd, the 3rd reflective inductor 54 of reflective inductor 53 and the 4th is separately mounted to the bottom of fuselage flank, the first reflective sensing
Device 51, the 3rd reflective inductor 53 respectively positioned at the left front of the bottom of the first flank 91 and left back (Fig. 2 due to being exploded view,
See structure clearly for convenience, decomposed on fuselage, but actually it is fixedly connected with the first flank 91)；Second is anti-
The reflective inductor 53 of optical inductor 52 and the 4th respectively positioned at the bottom of the second flank 92 right front and right back (similarly, Fig. 2 by
Then exploded view, sees structure clearly for convenience, is decomposed on fuselage, but actually it fixes company with the second flank 92
Connect).
With the first reflective inductor 51, the second reflective inductor 52, the 3rd reflective sensing of reflective inductor 53 and the 4th
Device 54 is correspondingly arranged on reflector, and the reflector is located at the drain pan of fuselage, and position is relative.In the embodiment shown in Figure 2, institute
Reflector is stated on the drain pan of fuselage.Due to the first flank 91 and the second flank 92 and fuselage elastic connection so that fuselage with
First flank 91 and the second flank 92 may move relatively.When clean robot is in vacant state, fuselage is due to Action of Gravity Field
Can down it fall, reflector drops with fuselage this moment, and the first flank 91 and the second flank are still in original position due to inertia
Put, therefore reflective inductor is able to detect that an optical signal at the time of fuselage falls.
As shown in figure 4, clean robot is normal without under vacant state, the near-end of reflective inductor and reflector apart from d and
Distal end immobilizes all the time apart from L, and when clean robot is in vacant state, because reflector is with the falling of fuselage
Pendant so that all increase apart from L apart from d and distal end with the near-end of reflective inductor, now detected by reflective inductor with
The change of the distance between reflector can just detect the vacant state of clean robot.First reflective inductor 51 can be examined
The hanging state in lower orientation of the angle 1/4 on the left of clean robot fuselage and between front is measured, the second reflective inductor 52 can be examined
The hanging state in lower orientation of the angle 1/4 on the left of clean robot fuselage and between rear is measured, the 3rd reflective inductor 53 can be examined
The hanging state in lower orientation of the angle 1/4 on the right side of clean robot fuselage and between front is measured, the 4th reflective inductor 54 can be examined
Measure the hanging state in lower orientation of the angle 1/4 on the right side of clean robot fuselage and between rear.
In one embodiment, the collision detection sensor also includes drag loading detection sensor, described for detecting
The load current of at least two rotating cleaning devices, to determine the extruding failure condition of the clean robot body upper.Clearly
During clean robot ambulation, by detecting that the load current of at least two rotating cleaning devices 1031 determines to come from cleaning machine
The extruding failure condition of people's fuselage roof.It is clear that extruding obstacle from clean robot fuselage roof can change at least two rotations
Power is press against between clean device 101 and contact surface, and then changes mutual frictional resistance, so by detecting respective drive electricity
The change of the load current of machine is just capable of detecting when top squeeze obstacle.
In one embodiment, control device 103 is by performing obstacle identification program, during robot cleaner, passes through
The barrier on the identification clean robot such as the testing result of each sensor and other ambient parameters periphery, and according to obstacle
The position of thing changes the track route of clean robot, to realize barrier avoiding function.In one embodiment, controller 103 can week
Phase property the obstacle in one period of comprehensive assessment perceive, and analysis and evaluation goes out the body of barrier, identification wall or line-like
Thing obstacle etc.；And recognize whether clean robot just uphangs structure by tables and chairs etc. and be seized fuselage roof etc..
In one embodiment, as shown in Fig. 2 being fixedly installed ambient light sensing on the fuselage upper casing 10 of clean robot
Device 3, it can perceive environmental light intensity change, so as to perceive the light characteristic in orientation residing for clean robot fuselage, identify that the mankind live
The regionality of dynamic frequency, is the main activities area of people mostly the region of usual light intensity, and the weak region of light is generally bottom table bottom etc..Know
Not different barriers and different regionalities, then different barrier characteristic and difference can be directed to by the pre-programmed of controller
Region characteristic make different cleaning mode and planning, allow cleaning to become more efficiently thoroughly and wisdom.Robot passes through
Perception and identification to barrier, controller can break away from barrier by controlling to change the direction of travel of robot, change machine
The walking cleaning mode of device people carrys out avoiding obstacles while more efficient more thoroughly complete cleaning.
In one embodiment, control device 103 includes microcontroller chip, data signal acquisition, algorithm routine, control drive
Dynamic output etc..The backstage function run on controller includes：Power-up initializing hardware and state-detection function, cleaning mode control
Function, input/output signal processing function, cleaning head motor control function, obstacle identification processing function, telecommand decoding control
Function processed, house dog processing function.The foreground interrupt event processing function run on control device 103 includes：Remote signal
Number function in decoding discontinuities function, task clock Schedule Interrupt function, cleaning head Rotating speed measring.Control device 103 is by passing
The various parameters that sensor arrangement 102 is detected, are perceived and are recognized to barrier, while logical always according to some default programs
Cross control to change the direction of travel of clean robot to break away from barrier, change the walking cleaning mode of clean robot to avoid
It is more efficient while barrier more thoroughly to complete cleaning.
In one embodiment, the cleaning mode of clean robot includes a variety of：Emphasis cleaning mode, wall along cleaning mode,
Straight trip cleaning mode, rapid cleaning mode swings cleaning mode, automated cleaning mode, manual cleaning mode.
Emphasis cleaning mode：The mankind's activity frequency that goes out according to obstacle identification high region, decision-making goes out should emphasis cleaning
Region, switches to emphasis cleaning mode；Region is cleaned in emphasis, the annular that robot makes repeatability detours cleaning mode, weight
It is multiple to be cleaned in multiple times.
Wall is along cleaning mode：Go out wall edge according to obstacle identification, robot can make semicircle cleaning of advancing along wall, in semicircle
In traveling cleaning mode, control device 103 controls a remains stationary state at least two rotating cleaning devices, another
It is individual to rotate, and then the working method that completion is cleaned along wall.
Straight trip cleaning mode：When going out according to obstacle identification without any barrier, robot can make conventional straight line and advance clearly
It is clean, the cleaning action circled certainly of discontinuity is had therebetween.
Rapid cleaning mode：The mankind's activity frequency that goes out according to obstacle identification low region, decision-making goes out should rapid cleaning
Region, makes rapid cleaning mode；In rapid cleaning region, the large semi-circular Fast marching that clean robot makes the property taken over is clear
It is clean；In the property taken over large semi-circular Fast marching cleaning mode, control device 103 controls at least two rotating cleaning devices alternating
Rotation, during a rotation, another remains stationary can reach the purpose of rapid cleaning in this way.
Swing cleaning mode：When going out narrow zone according to obstacle identification or be stuck, clean robot can make swing type
Cleaning, by narrow zone and more to escape.
Automated cleaning mode：Clean robot self cleaning is until stop；Overall process operation avoidance is perceived and avoidance, therebetween
The predetermined various possible cleaning modes of operation can be perceived according to obstacle to complete to use in cleaning, automated cleaning mode
Several ways are stated, depending on the current setting of concrete foundation and surrounding environment.
Manual cleaning mode：The action of each single step is directly controlled by the man-machine interaction of remote control etc.：Move ahead, retreat, it is left
Turn, turn right, stop etc..
According to each embodiment of the disclosure, the drive device of clean robot by by four orientation constitute it is comprehensive
The collision detection sensor of 360 angles, the hanging detection sensor on complete machine chassis, machine apical ring border light intensity sensor and complete machine are clear
The comprehensive perception of complete machine that clean head drag loading detection sensor is constituted, was run by these sensors to perceive fuselage
Various situations in journey, then the function of realization walking avoidance is controlled and the dropproof function of pause of falling through by controller；Pass through
Cleaning head speed probe perceives the speed of service of machine.
Fig. 5 is the flow chart of the driving method proposed according to disclosure exemplary embodiment.As shown in figure 5, the driving
Method includes：
In step 501, for obtaining the ambient parameter and the clean robot of clean robot local environment certainly
The kinematic parameter of body；At least two rotating cleaning devices are installed below the fuselage of the clean robot；
In step 502, for controlling at least two spin-cleaning according to the ambient parameter and/or kinematic parameter
The rotary motion of device.
In the present embodiment, joined by obtaining the ambient parameter of clean robot local environment and the motion of clean robot
The rotary motion of at least two rotating cleaning devices set below number, control clean robot, it is clear by least two rotations
Complete to drive walking side in cleaning, namely the present embodiment while the rotary motion driving clean robot walking of clean device
Formula and cleaning mode are integrally completed, and are simplified driving flow, are saved cost.The structure ginseng of clean robot and drive device
See description above, will not be repeated here.
In one embodiment, step 501 includes at least one of：
Obtain direction of rotation and the rotary speed of at least two rotating cleaning device；
Obtain the collision status, vacant state and environmental light intensity of the clean robot.
In one embodiment, step 502 includes：
The clean robot is controlled to be run in automated cleaning mode according to the ambient parameter and/or kinematic parameter, institute
State automated cleaning mode clear along cleaning mode, straight trip cleaning mode, rapid cleaning mode, swing including emphasis cleaning mode, wall
One or more in clean mode.
Driving method in each above-mentioned embodiment is realized by control device 103.
Fig. 6 diagrammatically illustrates the structured flowchart of the control device 103 according to the embodiment of the disclosure one.
As shown in fig. 6, be used for according to the processing equipment of the embodiment of the disclosure one during voice interface, including processor
610 and computer-readable recording medium 620.
Specifically, processor 610 can for example include general purpose microprocessor, instruction set processor and/or related chip group
And/or special microprocessor (for example, application specific integrated circuit (ASIC)), etc..Processor 610 can also include being used to cache using
The onboard storage device on way.Processor 610 can be performed for the different actions of the driving method described by the embodiment of the present disclosure
Single treatment unit either multiple processing units.
Computer-readable recording medium 620, for example, can be that can include, store, transmit, propagate or transmit appointing for instruction
Meaning medium.For example, readable storage medium storing program for executing can include but is not limited to electricity, magnetic, optical, electromagnetic, infrared or semiconductor system, device,
Device or propagation medium.The specific example of readable storage medium storing program for executing includes：Magnetic memory apparatus, such as tape or hard disk (HDD)；Optical storage
Device, such as CD (CD-ROM)；Memory, such as random access memory (RAM) or flash memory；And/or wire/wireless communication chain
Road.
Computer-readable recording medium 620 can include computer program 621, and the computer program 621 can include generation
Code/computer executable instructions, its when being performed as processor 610 so that processor 610 performs the embodiment of the present disclosure described by
Method flow and its any deformation.
Computer program 621 can be configured with such as computer program code including computer program module.Example
Such as, in the exemplary embodiment, the code in computer program 621 can include one or more program modules, for example including
621A, module 621B ....It should be noted that the dividing mode and number of module are not fixed, those skilled in the art can
To be combined according to actual conditions using suitable program module or program module, when the combination of these program modules is by processor 610
During execution so that processor 610 can perform the method flow and its any deformation described by the embodiment of the present disclosure.
In accordance with an embodiment of the present disclosure, processor 610 can use sender unit 630 and signal receiver 640 to hold
Method flow and its any deformation described by the row embodiment of the present disclosure.
Can be by there is the electricity of computing capability according to the above method of each embodiment of the disclosure, device, unit and/or module
Sub- equipment performs the software comprising computer instruction to realize.The system can include storage device, described above to realize
Various storages.The electronic equipment for having computing capability can include general processor, digital signal processor, dedicated processes
Device, re-configurable processor etc. are able to carry out the device of computer instruction, but not limited to this.Perform such instruction and cause electricity
Sub- equipment is configured as performing the above-mentioned operations according to the disclosure.Above-mentioned each equipment and/or module can be in an electronics
Realize, can also be realized in distinct electronic apparatuses in equipment.These softwares can be stored in a computer-readable storage medium.
The one or more programs of computer-readable recording medium storage (software module), one or more of programs include instruction, when
When being instructed described in one or more of electronic equipment computing device, the instruction causes electronic equipment to perform the side of the disclosure
Method.
These softwares can be stored as form (such as similar ROM etc. of volatile memory or Nonvolatile memory devices
Storage device), it is whether erasable or rewritable, or it is stored as form (such as RAM, storage core of memory
Piece, equipment or integrated circuit), or (such as, CD, DVD, disk or magnetic are stored on light computer-readable recording medium or magnetic computer-readable recording medium
Band etc.).It should be appreciated that storage device and storage medium are adapted for the machine readable storage dress for storing one or more programs
The embodiment put, one program or multiple programs include instruction, when executed, realize the implementation of the disclosure
Example.Embodiment provides program and stores the machine-readable storage device of this program, and described program includes being used to realize the disclosure
Any one claim described in device or method code.Furthermore, it is possible to via any medium (such as, via wired
The signal of communication that connection or wireless connection are carried) to send a telegram here and transmit these programs, multiple embodiments suitably include these programs.
Such as field programmable gate can also be used according to the method for each embodiment of the disclosure, device, unit and/or module
Array (FPGA), programmable logic array (PLA), on-chip system, the system on substrate, the system in encapsulation, special integrated electricity
Road (ASIC) can come real for carrying out the hardware such as integrated or encapsulation any other rational method or firmware to circuit
It is existing, or realized with software, the appropriately combined of three kinds of implementations of hardware and firmware.The system can include storage device,
To realize storage as described above.When realizing in such ways, used software, hardware and/or firmware be programmed or
It is designed as performing the corresponding above method, step and/or the function according to the disclosure.Those skilled in the art can be according to actual need
Come one or more of these systems and module suitably, or a part therein or some use it is different upper
Implementation is stated to realize.These implementations each fall within the protection domain of the disclosure.
Although the disclosure, art technology has shown and described in the certain exemplary embodiments with reference to the disclosure
Personnel it should be understood that without departing substantially from appended claims and its equivalent restriction spirit and scope of the present disclosure in the case of,
A variety of changes in form and details can be carried out to the disclosure.Therefore, the scope of the present disclosure should not necessarily be limited by above-described embodiment,
But not only should be determined by appended claims, also it is defined by the equivalent of appended claims.
Claims (10)
1. a kind of drive device, it is characterised in that including：
At least two rotating cleaning devices, below the fuselage of clean robot, are rotated by the friction with contact surface and driven
The dynamic clean robot walking；
Sensor device, for detecting ambient parameter and the clean robot kinematic parameter of itself；
Control device, for controlling at least two rotating cleaning device according to the ambient parameter and/or kinematic parameter
Rotary motion.
2. drive device as claimed in claim 1, it is characterised in that also include：
The cleaning assemblies at least two rotating cleaning devices surface is removably mounted to, in described at least two rotations
Turn cleaning device with cleaning the contact surface during contact surface friction rotation.
3. drive device as claimed in claim 1, it is characterised in that the sensor device includes at least one of：
Speed probe, for detecting the corner of at least two rotating cleaning device and the walking speed of clean robot
Degree；
Collision detection sensor, the collision status for detecting the clean robot；
Hanging detection sensor, the vacant state for detecting the clean robot；
Ambient light sensor, the light intensity for detecting the clean robot local environment.
4. drive device as claimed in claim 3, it is characterised in that the collision detection sensor include optical inductor and
Obstacle Photoelectric Detection shadow shield；
The optical inductor is installed on the fuselage side of the clean robot, and the obstacle Photoelectric Detection shadow shield is located at described
On the fuselage flank of clean robot, and it is relative with the position of the optical inductor；The fuselage flank and the cleaning machine
The fuselage elastic connection of people.
5. drive device as claimed in claim 3, it is characterised in that the hanging detection sensor include reflective sensor with
And reflector；The reflective sensor is located at the bottom of the fuselage flank of the clean robot, and the reflector is located at described
The drain pan of clean robot fuselage, and it is relative with the position of the reflective sensor；The fuselage flank of the clean robot with
The fuselage elastic connection of the clean robot.
6. the drive device as described in claim any one of 3-5, it is characterised in that the optical inductor includes four, respectively
It is arranged in front of the left side front, left side rear, right side of the clean robot fuselage and right side rear；
The reflective sensor includes four, is separately positioned on left front bottom, a left side for the fuselage flank of the clean robot
Bottom-rear, right front bottom and right back bottom.
7. drive device as claimed in claim 3, it is characterised in that the collision detection sensor also includes drag loading and examined
Survey sensor, the load current for detecting at least two rotating cleaning device, to determine the clean robot fuselage
The extruding failure condition of top.
8. a kind of driving method, it is characterised in that including：
Obtain the ambient parameter and the clean robot kinematic parameter of itself of clean robot local environment；The cleaning
At least two rotating cleaning devices are installed below the fuselage of robot；
The rotary motion of at least two rotating cleaning device is controlled according to the ambient parameter and/or kinematic parameter.
9. driving method as claimed in claim 8, it is characterised in that the environment ginseng of the acquisition clean robot local environment
The kinematic parameter of several and described clean robot itself, including at least one of：
Obtain direction of rotation and the rotary speed of at least two rotating cleaning device；
Obtain the collision status, vacant state and environmental light intensity of the clean robot.
10. driving method as claimed in claim 8 or 9, it is characterised in that according to the ambient parameter and/or kinematic parameter
The rotary motion of at least two rotating cleaning device is controlled, including：
Control the clean robot to be run in automated cleaning mode according to the ambient parameter and/or kinematic parameter, it is described from
Dynamic cleaning mode includes emphasis cleaning mode, wall along cleaning mode, straight trip cleaning mode, rapid cleaning mode, swing cleaning side
One or more in formula.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710286642.6A CN106970625A (en) | 2017-04-27 | 2017-04-27 | Drive device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710286642.6A CN106970625A (en) | 2017-04-27 | 2017-04-27 | Drive device and method |
Publications (1)
| Publication Number | Publication Date |
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| CN106970625A true CN106970625A (en) | 2017-07-21 |
Family
ID=59334062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710286642.6A Pending CN106970625A (en) | 2017-04-27 | 2017-04-27 | Drive device and method |
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| CN (1) | CN106970625A (en) |
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| CN110215153A (en) * | 2018-03-02 | 2019-09-10 | 科沃斯机器人股份有限公司 | Clean robot and its progress control method |
| CN113208511A (en) * | 2021-05-31 | 2021-08-06 | 云鲸智能(深圳)有限公司 | Cleaning control method and device, cleaning robot and computer storage medium |
| CN114587190A (en) * | 2021-08-23 | 2022-06-07 | 北京石头世纪科技股份有限公司 | Control method, system and device of cleaning device and computer readable storage medium |
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