CN106974593A - A kind of clean robot obstacle avoidance system and method - Google Patents
A kind of clean robot obstacle avoidance system and method Download PDFInfo
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- CN106974593A CN106974593A CN201710333736.4A CN201710333736A CN106974593A CN 106974593 A CN106974593 A CN 106974593A CN 201710333736 A CN201710333736 A CN 201710333736A CN 106974593 A CN106974593 A CN 106974593A
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- clean robot
- barrier
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- distance
- clean
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention relates to a kind of clean robot obstacle avoidance system and method, wherein system includes clean robot, also include several avoidance units for being arranged on clean robot surrounding, and the middle control unit being electrically connected with the avoidance unit, the avoidance unit is used to detect the obstacle information of clean robot surrounding and the information of detection is delivered into middle control unit in real time, the middle control unit is continued to run with after being terminated according to the information of reception control clean robot progress Real Time Obstacle Avoiding and avoidance according to preset path, the present invention can correct the walking path of clean robot, barrier is avoided, avoid situation about being collided with barrier, so as to which furniture or cleaning machine human body will not be destroyed, the service life of clean robot can be extended.
Description
Technical field
The present invention relates to clean robot field, more particularly to a kind of clean robot obstacle avoidance system and method.
Background technology
With the development of science and technology, the clean robot for possessing certain function gradually comes into household and office environments, subtract
The light work burden of people, in the prior art, clean robot is essentially all by collision when room is cleaned
Mode do outgoing direction adjustment, although the surrounding of clean robot is provided with buffer structure, but with the increasing of use time
Long, clean robot can be also damaged, and travel direction is adjusted by way of collision, it is also possible to damage the feelings such as furniture
Condition.
Such as Chinese invention patent application of Application No. 201410668350.5, discloses a kind of the clear of clean robot
Clean pattern, be specially：Clean robot comprises the following steps successively in the cleaning mode：A. clean robot enters one
Working region, carries out Coarse Acquisition to working environment and confirms the step of it has been enter into a depletion region；B. clean robot
The step of the depletion region carries out all standing cleaning；When clean robot carries out all standing cleaning, its path coverage density
More than path coverage density of the clean robot in Coarse Acquisition；C. clean robot meets the retrogressing of systemic presupposition condition
The step of going out the cleaning mode, but the method that clean robot is avoided to barrier is not solved.
In another example the Chinese invention patent of Application No. 201310071351.7, discloses one kind and is navigated along side to middle extension
Clean robot clean method, specifically include：Wall outer wall of the clean robot along room is advanced；It is described during it
Clean robot leaves the wall outer wall and is moved to the direction away from the wall outer wall and clean ground several times；Described
Clean robot leaves wall outer wall certain distance or met after barrier every time, first rotates a predetermined angle, then advance
One section of pre-determined distance, then returns to the wall outer wall, realizes to that need to clean traversal and the cleaning in region, realizes reduction weight
The cleaning of multiple course, but do not solve the method that clean robot is avoided to barrier yet.
The content of the invention
In order to solve the above problems, there is provided a kind of clean robot obstacle avoidance system and method, it is possible to achieve clean robot
Barrier is avoided in real time, and can continue to clean according to default path after avoidance.
Concrete scheme is：A kind of clean robot obstacle avoidance system, including clean robot, it is characterised in that if also including
The dry individual avoidance unit for being arranged on clean robot surrounding, and the middle control unit being electrically connected with the avoidance unit, the avoidance
Unit is used for the obstacle information for detecting clean robot surrounding and the information of detection is delivered into middle control unit in real time, it is described in
Control unit continues after being terminated according to the information of reception control clean robot progress Real Time Obstacle Avoiding and avoidance according to preset path
Operation.
Above-mentioned obstacle avoidance system, wherein, several described avoidance units are irregular to be arranged in clean robot surrounding.
Above-mentioned obstacle avoidance system, wherein, the avoidance unit includes the first range sensor, second distance sensor and the
Three range sensors.
Above-mentioned obstacle avoidance system, wherein, the clean robot front end is provided with multiple first range sensors, the cleaning
Robot both sides front end is at least respectively equipped with a second distance sensor, and clean robot both sides rear end is at least respectively equipped with
One the 3rd range sensor.
Above-mentioned obstacle avoidance system, wherein, the multiple first range sensor along above and below the side of clean robot front end every
Between be distributed to front end opposite side.
Above-mentioned obstacle avoidance system, wherein, clean robot both sides front end is respectively equipped with multiple second distance sensors,
Clean robot both sides front end is at least respectively equipped with a second distance sensor up and down.
Above-mentioned obstacle avoidance system, wherein, clean robot both sides rear end is respectively equipped with multiple 3rd range sensors,
Clean robot both sides rear end is at least respectively equipped with one the 3rd range sensor up and down.
Present invention also offers a kind of clean robot barrier-avoiding method, comprise the following steps：
Step (1)：There is provided a clean robot, several be arranged on the avoidance unit and middle control list of clean robot surrounding
Member；
Step (2)：The distance between clean robot and barrier that reception avoidance unit is gathered in real time information, to judge
The distance between clean robot and barrier；
Step (3)：If clean robot wherein one side reaches default avoidance value with the distance between barrier, middle control is single
Member control clean robot makes corresponding pose adjustment and terminates until avoiding and continued to run with according to preset path.
Above-mentioned barrier-avoiding method, wherein, the step (3) also includes：
If the distance between the wherein one side of clean robot and barrier reach default avoidance value, middle control unit control
Clean robot processed retreats corresponding distance, clean robot is then controlled toward opposite side adjustment direction, until clean robot
When the avoidance unit of barrier side rear end collects the range information of barrier, the direction to initial side of clean robot is adjusted
To and continue to run with.
Above-mentioned barrier-avoiding method, wherein, the step (3) also includes：
If the distance between the front end of clean robot and barrier reach default avoidance value, middle control unit control cleaning
Robot retreats corresponding distance, then according to the clean robot for the avoidance unit collection for being arranged on clean robot surrounding with
The distance between barrier, adjustment clean robot is toward without barrier side adjustment direction, until clean robot rear end is kept away
Barrier unit is when collecting the range information of barrier, adjustment clean robot direction is to inceptive direction and continues to run with.
Advantages of the present invention：1st, the walking path of clean robot can be corrected, barrier is avoided, it is to avoid with barrier
Hinder the situation that thing is collided, so that furniture or cleaning machine human body will not be destroyed, making for clean robot can be extended
Use the life-span；2nd, the cleaning time of clean robot can be saved, so as to improve cleaning machine task efficiency.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, the present invention and its feature, outside
Shape and advantage will become more apparent upon.Identical mark indicates identical part in whole accompanying drawings.Not deliberately proportionally
Draw accompanying drawing, it is preferred that emphasis is the purport of the present invention is shown.
Fig. 1 is one of which state diagram of the clean robot before barrier is run into the present invention.
Fig. 2 a- Fig. 2 j avoid the process status figure of barrier for clean robot in the present invention in the state of Fig. 1.
Fig. 3 a, Fig. 3 b are avoided in the state of Fig. 1 for clean robot in the present invention terminate after according to the former directions of Fig. 1 after
The state diagram continued away.
Fig. 4 is the avoidance state diagram of clean robot in another case in the present invention.
Embodiment
In the following description, a large amount of concrete details are given to provide more thorough understanding of the invention.So
And, it is obvious to the skilled person that the present invention can be able to without one or more of these details
Implement.In other examples, in order to avoid obscuring with the present invention, do not enter for some technical characteristics well known in the art
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Explain technical scheme.Presently preferred embodiments of the present invention is described in detail as follows, but in addition to these detailed descriptions, this
Invention can also have other embodiment.
Shown in reference picture 1- Fig. 4, a kind of clean robot obstacle avoidance system that the present invention is provided, including clean robot 1, also
The avoidance unit of clean robot surrounding, and the middle control unit being electrically connected with the avoidance unit are arranged on including several, its
In in control unit can be arranged on the inside of clean robot 1, avoidance unit is used for the barrier for detecting the surrounding of clean robot 1
The information of detection is simultaneously delivered to middle control unit by 2 information in real time, and middle control unit controls clean robot 1 to enter according to the information of reception
Row Real Time Obstacle Avoiding and avoidance terminate after continued to run with according to preset path, shown in reference picture 2a- Fig. 2 j, be the present invention system
Barrier status of processes figure is being avoided, and reference picture 3a, figure b are that clean robot 1 is set according further to original after avoidance terminates
The direction put continues to clean, and system of the invention can correct the walking path of clean robot, barrier is avoided, kept away
Exempt from situation about being collided with barrier, so that furniture or cleaning machine human body will not be destroyed, cleaning machine can be extended
The service life of people, and the cleaning time of clean robot can be saved, so as to improve the work effect of clean robot
Rate.The reference in reference reference picture 1 wherein in the present invention in Fig. 2 a- Fig. 4.
The present invention one is preferably and in non-limiting embodiment, and avoidance unit is irregular is arranged in cleaning machine for several
The surrounding of people 1, can be detected to the barrier of front end and side, and clean robot 1 four is arranged in by irregular
Week, barrier be irregular shape in the case of, can also precision detection and the distance of barrier.
The present invention one is preferably and in non-limiting embodiment, and avoidance unit includes the first range sensor 3, second distance
The range sensor 5 of sensor 4 and the 3rd, wherein the first range sensor 3 is used for the barrier letter for detecting the front end of clean robot 1
Breath, the range sensor 5 of second distance sensor 4 and the 3rd are respectively used on front side of detection clean robot 1 front end and cleaning machine
Obstacle information on rear side of the front end of people 1, it is possible to achieve middle control unit makes accurate avoidance action to clean robot 1.
The present invention one is preferably and in non-limiting embodiment, shown in reference picture 1, and the front end of clean robot 1 is provided with multiple
First range sensor 3, the both sides front end of clean robot 1 is at least respectively equipped with a second distance sensor 4, clean robot 1
Both sides rear end is at least respectively equipped with one the 3rd range sensor 5.
The present invention one is preferably and in non-limiting embodiment, and multiple first range sensors 3 are along the front end of clean robot 1
Side upper and lower chamber is distributed to front end opposite side, further, and the both sides front end of clean robot 1 is respectively equipped with multiple second distances and passed
Sensor 4, the both sides front end of clean robot 1 is at least respectively equipped with a second distance sensor 4, further, cleaning machine up and down
The both sides rear end of people 1 is respectively equipped with multiple 3rd range sensors 5, and the both sides rear end of clean robot 1 is at least respectively equipped with one up and down
3rd range sensor 5, by the setting of this kind of mode, can more accurately be detected between clean robot 1 and barrier
Distance, erroneous judgement will not be caused, the accuracy of avoidance can be improved.
Present invention also offers a kind of clean robot barrier-avoiding method, comprise the following steps：
Step (1)：There is provided a clean robot, several be arranged on the avoidance unit and middle control list of clean robot surrounding
Member, wherein avoidance unit are preferably range sensor, further preferably, avoidance unit include the first range sensor 3, second away from
From the range sensor 5 of sensor 4 and the 3rd, preferably mounting means is：Multiple first range sensors 3 are along before clean robot 1
End side upper and lower chamber is distributed to front end opposite side, and the both sides front end of clean robot 1 is respectively equipped with multiple second distances and passed
Sensor 4, the both sides front end of clean robot 1 is at least respectively equipped with a second distance sensor 4, and 1 liang of clean robot up and down
Side rear end is respectively equipped with multiple 3rd range sensors 5, the both sides rear end of clean robot 1 be at least respectively equipped with up and down one the 3rd away from
From sensor 5, by the preferred mounting means, the distance between clean robot 1 and barrier can be more accurately detected,
Erroneous judgement will not be caused, the accuracy of avoidance can be improved, the mounting means is referred to as in the present invention：It is preferred that mounting means.
Step (2)：The distance between clean robot and barrier that reception avoidance unit is gathered in real time information, to judge
The distance between clean robot and barrier；
Step (3)：If clean robot wherein one side reaches default avoidance value with the distance between barrier, the avoidance value
Preset, for example, can be 5cm or 10cm；Then to make corresponding pose adjustment straight for middle control unit control clean robot
Terminate to avoiding and continued to run with according to preset path.
Wherein step (3) includes two ways：First：Barrier is in the case of side, if specifically, clean robot
The distance between 1 wherein one side and barrier reach default avoidance value, then dephasign after middle control unit control clean robot
The distance answered, then controls clean robot toward opposite side adjustment direction, until keeping away for clean robot barrier side rear end
Barrier unit is when collecting the range information of barrier, adjustment clean robot 1 direction is to inceptive direction and continues to run with, reference
Shown in Fig. 1-Fig. 3 b, when avoidance status of processes figure of the barrier 2 in the case of the left side of clean robot 1, wherein in state diagram
The direction of arrow is the adjustment direction of clean robot 1；Second：Barrier is in the case of front end, if specifically, clean robot
The distance between 1 front end and barrier 2 reach default avoidance value, then middle control unit control clean robot retreat it is corresponding away from
From, then according to the distance between clean robot and barrier of the avoidance unit collection for being arranged on clean robot surrounding,
Clean robot is adjusted toward without barrier side adjustment direction, avoidance unit collects barrier until clean robot rear end
Range information when, adjustment clean robot direction is to inceptive direction and continues to run with, reference picture 4, if into some
When narrow passage or corner, when clean robot can not be got rid of poverty by turning u-turn, it can upside down and withdraw, at this moment the left and right sides
Avoidance unit can correct route, help machine smoothly to exit.
Specific application scenarios presented below.
Shown in embodiment 1, reference picture 1- Fig. 3 b, barrier is in the case of the left side of clean robot 1, in cleaning machine
In the traveling process of people 1, when clean robot 1 will be close to barrier 2, in the effective range detected into avoidance unit, middle control is single
Member can receive distance detection signal, then provide the feedback command of clean robot 1, now clean robot 1 presses program setting,
Some distances can be first retreated, then starts to turn right, with avoiding obstacles, then keeps straight on, this process may repeated multiple times amendment；
After the side of clean robot 1 circumvents barrier, tilted direction is moved along, and is examined when being moved to the right second distance sensor 4 in side
When measuring barrier, can not now turn left revolution amendment direction, in addition it is also necessary to continue tilted direction straight trip, the 3rd of side rear to be gone to the
Range sensor 5 sensed after barrier, and the adjustment in direction that could start to turn left of clean robot 1 is advanced to horizontal direction；When clear
The 3rd range sensor 5 of the clean side of robot 1 is left after barrier, and clean robot 1 continues toward former straight trip route amendment, towards a left side
Turn round.May repeated multiple times amendment, until clean robot 1 is finally completely around barrier, return to original course after
Continue away, which can correct the walking path of clean robot, barrier is accurately avoided, it is to avoid enter with barrier
The situation of row collision occurs, so that furniture or cleaning machine human body will not be destroyed, can extend the use of clean robot
Life-span, and the cleaning time of clean robot can be saved, so as to improve cleaning machine task efficiency.
Shown in embodiment 2, reference picture 4, when clean robot 1 enters some narrow passages or corner, clean robot 1
When can not be got rid of poverty by turning u-turn, it can upside down and withdraw, route, Zhi Daoqing are at this moment corrected by the range sensor of both sides
Clean robot 1 smoothly exits narrow passage or corner, and without always going to collide wall or furniture etc..
Cleaning machine of the system and method presented below by the present invention in the case where cleaning same space with routine
People carries out contrasting as follows：
Experiment condition：Power and area identical clean robot, respectively clean robot A and clean robot B, its
The system that middle clean robot A is mounted with the present invention, wherein using preferred mounting means, the cleaner mentioned in the present invention
The system that device people B does not install the present invention, contrast situation is as shown in table 1：
Table 1
In table 1,40m2It is to clean the face cleaning region area once, the number of times of collision to refer to clean robot
The number of times collided under conditions of accumulating once, the accumulative cleaning time refers to the service life of clean robot, effective sweep-out pattern
Refer to the area being swept into purging zone, the time spent in cleaning time of effective area refers to clean effective area；From
Table 1, which can be seen that, to be come, and after system of the invention is arranged on clean robot, can avoid the collision with barrier, Yi Jike
To extend the service life of clean robot, and effective sweep-out pattern can be improved, and the cleaning time can be reduced, improved
Cleaning machine task efficiency.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as giving reality with the common mode in this area
Apply；Any those skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and techniques content make many possible variations and modification to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this has no effect on the substantive content of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation
The technical spirit of the present invention still falls within the present invention to any simple modifications, equivalents, and modifications made for any of the above embodiments
In the range of technical scheme protection.
Claims (10)
1. a kind of clean robot obstacle avoidance system, including clean robot, it is characterised in that be also arranged on cleaning including several
The avoidance unit of robot surrounding, and the middle control unit being electrically connected with the avoidance unit, the avoidance unit are used to detect clear
The information of detection is simultaneously delivered to middle control unit by the obstacle information of clean robot surrounding in real time, and the middle control unit is according to reception
Information control clean robot carry out Real Time Obstacle Avoiding and avoid terminate after continued to run with according to preset path.
2. a kind of clean robot obstacle avoidance system according to claim 1, it is characterised in that several described avoidance units
It is irregular to be arranged in clean robot surrounding.
3. a kind of clean robot obstacle avoidance system according to claim 1, it is characterised in that the avoidance unit includes the
One range sensor, second distance sensor and the 3rd range sensor.
4. a kind of clean robot obstacle avoidance system according to claim 3, it is characterised in that the clean robot front end
Provided with multiple first range sensors, clean robot both sides front end is at least respectively equipped with a second distance sensor, institute
State clean robot both sides rear end and be at least respectively equipped with one the 3rd range sensor.
5. a kind of clean robot obstacle avoidance system according to claim 4, it is characterised in that the multiple first distance is passed
Sensor is distributed to front end opposite side along clean robot front end side upper and lower chamber.
6. a kind of clean robot obstacle avoidance system according to claim 5, it is characterised in that the clean robot both sides
Front end is respectively equipped with multiple second distance sensors, clean robot both sides front end be at least respectively equipped with up and down one second away from
From sensor.
7. a kind of clean robot obstacle avoidance system according to claim 6, it is characterised in that the clean robot both sides
Rear end is respectively equipped with multiple 3rd range sensors, clean robot both sides rear end be at least respectively equipped with up and down one the 3rd away from
From sensor.
8. a kind of clean robot barrier-avoiding method, it is characterised in that comprise the following steps：
Step (1)：There is provided a clean robot, several be arranged on the avoidance unit and middle control unit of clean robot surrounding；
Step (2)：The distance between clean robot and barrier that reception avoidance unit is gathered in real time information, to judge cleaning
The distance between robot and barrier；
Step (3)：If clean robot wherein one side reaches default avoidance value, middle control unit control with the distance between barrier
Clean robot processed makes corresponding pose adjustment and terminates until avoiding and continued to run with according to preset path.
9. a kind of clean robot barrier-avoiding method according to claim 8, it is characterised in that the step (3) also includes：
If the distance between the wherein one side of clean robot and barrier reach default avoidance value, middle control unit control is clear
Clean robot retreats corresponding distance, clean robot is then controlled toward opposite side adjustment direction, until clean robot obstacle
When the avoidance unit of thing side rear end collects the range information of barrier, adjust clean robot direction to inceptive direction simultaneously
Continue to run with.
10. a kind of clean robot barrier-avoiding method according to claim 8, it is characterised in that the step (3) is also wrapped
Include：
If the distance between the front end of clean robot and barrier reach default avoidance value, middle control unit control cleaning machine
People retreats corresponding distance, then according to the clean robot and obstacle of the avoidance unit collection for being arranged on clean robot surrounding
The distance between thing, adjustment clean robot is toward without barrier side adjustment direction, until clean robot rear end avoidance list
When member collects the range information of barrier, adjustment clean robot direction is to inceptive direction and continues to run with.
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| CN107907289A (en) * | 2017-09-27 | 2018-04-13 | 芜湖凯尔电气科技有限公司 | The striking experiment device of floor-mopping robot |
| CN108227523A (en) * | 2017-11-01 | 2018-06-29 | 深圳乐动机器人有限公司 | robot control method, device, storage medium and computer equipment |
| CN108693880A (en) * | 2018-05-15 | 2018-10-23 | 北京石头世纪科技有限公司 | Intelligent mobile equipment and its control method, storage medium |
| CN109528101A (en) * | 2019-01-04 | 2019-03-29 | 云鲸智能科技（东莞）有限公司 | Turning method, mobile robot and the storage medium of mobile robot |
| CN109645896A (en) * | 2019-01-04 | 2019-04-19 | 云鲸智能科技（东莞）有限公司 | A kind of method, control device, clean robot and storage medium cleaning ground |
| 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 |
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